wrong rendering

[Howuhh]

Hi! I want to visualize my agent's rollouts. However, the resulting videos turns out to be strange, I see some color artifacts. Should it be like this?

What I do:

# on each step
render_frames.append(env.render(mode="rgb_array", width=256, height=256))

# at the end
imageio.mimsave(render_path, render_frames, fps=32)

Result:

[cremebrule]

Hi @Howuhh ,

Thanks for bringing up this issue. Are you using any custom logic beforehand (e.g.: wrappers)? The color artifacts you see are actually the collision meshes for those objects, which should be hidden by default.

[Howuhh]

I have gym.ObservationWrapper which only concats state dim's in one vector (names are in obs_dict below), other methods are not overloaded.

That's how I create env:

def create_env(hdf5_path="data/lift/ph/low_dim.hdf5", render=False):
    obs_dict = {
        "low_dim": [
            "robot0_eef_pos",
            "robot0_eef_quat",
            "robot0_gripper_qpos",
            "object"
        ]
    }
    initialize_obs_modality_mapping_from_dict(obs_dict)

    env_meta = get_env_metadata_from_dataset(hdf5_path)
    env = create_env_from_metadata(
        env_meta=env_meta,
        render=render,
        render_offscreen=False,
        use_image_obs=False
    )
    return env

[cremebrule]

Can you make sure render_collision_mesh is set to False when you're creating the environment? You can check by simply calling env.render_collision_mesh. (this is a kwarg passed into all environment constructors)

[Howuhh]

Yes, it is definitely set to False, I even make an assert on that.

[amandlek]

Closing this issue as it appears to be stale, and also more related to robosuite. Feel free to raise an issue there if problems persist.