Fixes image feature extractor setup

isaac-sim · Oct 30, 2024 · 2323ded · 2323ded
1 parent 9cc298e
commit 2323ded
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diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py
@@ -381,7 +381,7 @@ def __call__(
             print(f"[INFO]: Adding {model_name} to the model zoo")
             self.model_zoo[model_name] = self.model_zoo_cfg[model_name]["model"]()
 
-        if model_device is not None and self.model_zoo[model_name].device != model_device:
+        if model_device is not None:
             # want to offload vision model inference to another device
             self.model_zoo[model_name] = self.model_zoo[model_name].to(model_device)
 

diff --git a/source/extensions/omni.isaac.lab/setup.py b/source/extensions/omni.isaac.lab/setup.py
@@ -31,6 +31,9 @@
     # procedural-generation
     "trimesh",
     "pyglet<2",
+    # image processing
+    "transformers",
+    "einops",  # needed for transformers, doesn't always auto-install
 ]
 
 PYTORCH_INDEX_URL = ["https://download.pytorch.org/whl/cu118"]