bug fix with adding mounted cameras

haosulab · Mar 1, 2024 · 69c95ea · 69c95ea
1 parent dc88432
commit 69c95ea
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Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/mani_skill2/envs/scene.py b/mani_skill2/envs/scene.py
@@ -133,9 +133,12 @@ def add_mounted_camera(
             camera.set_fovy(fovy, compute_x=True)
             camera.near = near
             camera.far = far
-            camera.set_gpu_pose_batch_index(mount._objs[i].gpu_pose_index)
+            if physx.is_gpu_enabled():
+                camera.set_gpu_pose_batch_index(mount._objs[i].gpu_pose_index)
             if isinstance(mount, Link):
                 mount._objs[i].entity.add_component(camera)
+            else:
+                mount._objs[i].add_component(camera)
             camera.local_pose = pose
             camera.name = f"scene-{i}_{name}"
             cameras.append(camera)

diff --git a/mani_skill2/sensors/camera.py b/mani_skill2/sensors/camera.py
@@ -129,12 +129,10 @@ def __init__(
             self.entity = None
         else:
             if articulation is None:
-                # TODO (stao): This line certainly should not work. Fix to support adding mounted cameras to non articulated objects (Actors here then)
-                # self.entity = get_obj_by_name(scene.get_entities(), entity_uid)
-                raise NotImplementedError(
-                    "Adding cameras mounted to non articulated objects has not been implemented yet"
-                )
+                pass
             else:
+                # if given an articulation and entity_uid (as a string), find the correct link to mount on
+                # this is just for convenience so robot configurations can pick link to mount to by string/id
                 self.entity = get_obj_by_name(articulation.get_links(), entity_uid)
             if self.entity is None:
                 raise RuntimeError(f"Mount entity ({entity_uid}) is not found")