fix bug where viewer camera was fixed in place to a sensor

haosulab · Feb 26, 2024 · 1683a01 · 1683a01
1 parent 9a9f311
commit 1683a01
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/mani_skill2/envs/sapien_env.py b/mani_skill2/envs/sapien_env.py
@@ -956,15 +956,16 @@ def _setup_viewer(self):
         )
         control_window.show_joint_axes = False
         control_window.show_camera_linesets = False
+        if "render_camera" in self._human_render_cameras:
+            self._viewer.set_camera_pose(
+                self._human_render_cameras["render_camera"].camera.global_pose
+            )
 
     def render_human(self):
         if self._viewer is None:
             self._viewer = Viewer()
             self._setup_viewer()
-        if "render_camera" in self._human_render_cameras:
-            self._viewer.set_camera_pose(
-                self._human_render_cameras["render_camera"].camera.global_pose
-            )
+
         for obj in self._hidden_objects:
             obj.show_visual()
         if physx.is_gpu_enabled() and self._scene._gpu_sim_initialized: