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iamlab-cmu / isaacgym-utils

Wrappers and utilities for Nvidia IsaacGym
Apache License 2.0
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Feature optional cam cfg #34

Closed tabula-rosa closed 2 years ago

tabula-rosa commented 2 years ago

This PR implements the possibility of adding additional camera configuration options to the Isaac Gym config file that could be used by end user code but not necessarily Isaac Gym's gymapi.

For example,

camera:
  width: 640
  height: 480
  debug:
    show_frames:
      enable: False
      frame_count: 20

would throw an error because of the debug configuration options. The method camera.py::__init__ expects every key in this dictionary to be an attribute of gymapi.CameraProperties.

This code change now only sets the attribute if it is contained with the gymapi.CameraProperties dictionary.

Tested and confirmed on my system. No regressions were introduced.

This PR also contains whitespace removal for the camera.py file.

tabula-rosa commented 2 years ago

This would close Issue #35.