[MISC] Avoid rendering cameras at reset. #1552
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duburcqa
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Description
renderexplicitlyMotivation and Context
Enforcing camera rendering at reset significantly impedes performance during RL training because the length of the episodes is very short at the beginning of the learning process. Moreover, it serves no purpose since it will never be displayed anyway. Historically, this was necessary to avoid some segfault as far as I know, but it is no longer the case.
How Has This Been / Can This Be Tested?
Running
python examples/rigid/single_franka.py --visandpython examples/rigid/single_franka_batch_render.py -r -dChecklist:
Submitting Code Changessection of CONTRIBUTING document.