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[Feature[ Update interactive_panda.py to allow using different viewer shaders #687

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merged 1 commit into from
Nov 7, 2024
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[Feature[ Update interactive_panda.py to allow using different viewer shaders #687

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5 changes: 4 additions & 1 deletion mani_skill/examples/teleoperation/interactive_panda.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,8 @@ class Args:
"""directory to record the demonstration data and optionally videos"""
save_video: bool = False
"""whether to save the videos of the demonstrations after collecting them all"""
viewer_shader: str = "rt-fast"
"""the shader to use for the viewer. 'default' is fast but lower-quality shader, 'rt' and 'rt-fast' are the ray tracing shaders"""
video_saving_shader: str = "rt-fast"
"""the shader to use for the videos of the demonstrations. 'minimal' is the fast shader, 'rt' and 'rt-fast' are the ray tracing shaders"""

Expand All @@ -43,7 +45,8 @@ def main(args: Args):
control_mode="pd_joint_pos",
render_mode="rgb_array",
reward_mode="none",
viewer_camera_configs=dict(shader_pack="rt-fast")
enable_shadow=True,
viewer_camera_configs=dict(shader_pack=args.viewer_shader)
)
env = RecordEpisode(
env,
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