From 1b9c8d5dc7b6159cfdcadb731c4e81a711db3c72 Mon Sep 17 00:00:00 2001
From: garylvov <67614381+garylvov@users.noreply.github.com>
Date: Sat, 21 Sep 2024 00:42:17 -0400
Subject: [PATCH] update depth logic to 1.2

Signed-off-by: garylvov <67614381+garylvov@users.noreply.github.com>
---
 .../omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index e6099a30d0..b03e00a857 100644
--- 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
@@ -202,7 +202,7 @@ def grab_images(
     """
     sensor: TiledCamera | Camera | RayCasterCamera = env.scene.sensors[sensor_cfg.name]
     images = sensor.data.output[replicator]
-    if (replicator == "distance_to_camera" or replicator == "depth") and convert_perspective_to_orthogonal:
+    if (replicator == "distance_to_camera") and convert_perspective_to_orthogonal:
         images = math_utils.convert_perspective_depth_to_orthogonal_depth(images, sensor.data.intrinsic_matrices)
     return images