gym_genesis/tasks/cube_pick.py [54:84]:
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        )

        if self.enable_pixels:
            self.cam = self.scene.add_camera(
                res=(self.observation_width, self.observation_height),
                pos=(3.5, 0.0, 2.5),
                lookat=(0, 0, 0.5),
                fov=30,
                GUI=False
            )

        self.scene.build(n_envs=num_envs, env_spacing=env_spacing)
        self.motors_dof = np.arange(7)
        self.fingers_dof = np.arange(7, 9)
        self.eef = self.franka.get_link("hand")

    def _make_obs_space(self):
        if self.enable_pixels:
            # we explicity remove the need of environment_state
            return spaces.Dict({
                "agent_pos": spaces.Box(low=-np.inf, high=np.inf, shape=(AGENT_DIM,), dtype=np.float32),
                "pixels": spaces.Box(low=0, high=255, shape=(self.observation_height, self.observation_width, 3), dtype=np.uint8),
            })
        else:
            return spaces.Dict({
                "agent_pos": spaces.Box(low=-np.inf, high=np.inf, shape=(AGENT_DIM,), dtype=np.float32),
                "environment_state": spaces.Box(low=-np.inf, high=np.inf, shape=(ENV_DIM,), dtype=np.float32),
            })
    
    def reset(self):
        B = self.num_envs
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gym_genesis/tasks/cube_stack.py [86:117]:
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        )
        
        if self.enable_pixels:
            self.cam = self.scene.add_camera(
                res=(self.observation_width, self.observation_height),
                pos=(3.5, 0.0, 2.5),
                lookat=(0, 0, 0.5),
                fov=30,
                GUI=False
            )

        self.scene.build(n_envs=num_envs, env_spacing=env_spacing)
        self.motors_dof = np.arange(7)
        self.fingers_dof = np.arange(7, 9)
        self.eef = self.franka.get_link("hand")

    def _make_obs_space(self):
        #TODO: see if we should add text obs
        if self.enable_pixels:
            # we explicity remove the need of environment_state
            return spaces.Dict({
                "agent_pos": spaces.Box(low=-np.inf, high=np.inf, shape=(AGENT_DIM,), dtype=np.float32),
                "pixels": spaces.Box(low=0, high=255, shape=(self.observation_height, self.observation_width, 3), dtype=np.uint8),
            })
        else:
            return spaces.Dict({
                "agent_pos": spaces.Box(low=-np.inf, high=np.inf, shape=(AGENT_DIM,), dtype=np.float32),
                "environment_state": spaces.Box(low=-np.inf, high=np.inf, shape=(ENV_DIM,), dtype=np.float32),
            })
        
    def reset(self):
        B = self.num_envs
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