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renderer fix #54

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renderer fix #54

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2 changes: 1 addition & 1 deletion molmo_spaces/configs/abstract_exp_config.py
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Original file line number Diff line number Diff line change
Expand Up @@ -97,7 +97,7 @@ def fps(self) -> float:

filter_for_successful_trajectories: bool = True # If True, only save successful trajectories to main output directory (failed episodes may be sampled 1% for debug directory). If False, save all trajectories to main output directory.

use_filament: bool = False
use_filament: bool = True
environment_light_intensity: float = 15000.0

def model_post_init(self, _context) -> None:
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4 changes: 2 additions & 2 deletions molmo_spaces/env/env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -210,11 +210,11 @@ def _initialize_with_model(self, mj_model: MjModel, mj_base_scene_path: str) ->
else:
width, height = (640, 480) # Default resolution
if self._use_filament:
self._renderer = MjFilamentRenderer(model=self.mj_model, width=width, height=height)
log.info("Using MuJoCo renderer: filament")
self._renderer = MjFilamentRenderer(model=self.mj_model, width=width, height=height)
else:
self._renderer = MjOpenGLRenderer(model=self.mj_model, width=width, height=height)
log.info("Using MuJoCo renderer: classic")
self._renderer = MjOpenGLRenderer(model=self.mj_model, width=width, height=height)

if self._parallelize and self._n_batch > 1:
self._executor = ThreadPoolExecutor(max_workers=self._n_batch)
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