RGBD frame contains strange objects in the depth channel.

[ChelaruViorel]

Hi,
I am using the C API, and I got a frame + depth by getting the observation RGBD_INTERLACED.
But the depth is strange, because it contains 2 squares at the bottom with depth information, which I think are not useful at all, and also I don't think are part of the environment. I think only the walls and the apple should be the environment, so only they should have depth information....so I think this is a bug, but if it's not, please explain me the existence and meaning of these 2 objects in the depth information.

I attached the RGB frame, the depth frame, and the inverted depth frame.

Thanks a lot,
Viorel

[charlesbeattie]

This is working as intended as they are 3D rendered parts of the UI.
You will be able to remove these artefacts by editing assets/q3config.cfg:
Change the line:
seta cg_draw3dIcons "1"
To:
seta cg_draw3dIcons "0"

[ChelaruViorel]

thanks

[frankcarey]

note that the top of assets/q3config.cfg says:

// generated by quake, do not modify
https://github.com/deepmind/lab/blob/master/assets/q3config.cfg#L1

[tkoeppe]

@frankcarey: That's probably meaningless. We modified the engine so that it would not (by default) re-write the current configuration to disk, so that the config file is effectively stable.

[tangbohu]

Would you mind sharing how you modify the engine? @tkoeppe