Modify the logic to allow changing the Camera Type and Resolution through environment variables

Author: soowanpNV

source/extensions/humanoid.tasks/humanoid/tasks/push_box/push_box_env.py

@@ -197,8 +197,8 @@ class PushBoxEnvCfg(DirectRLEnvCfg):
     )
 
     # cameras
-    width = 320
-    height = 240
+    width = int(os.environ.get("ISAAC_LAB_CAMERA_WIDTH", 320))
+    height = int(os.environ.get("ISAAC_LAB_CAMERA_HEIGHT", 240))
     camera = CameraCfg(
         prim_path="/World/envs/env_.*/Robot/d435_rgb_module_link/camera",
         # update_period=0.1,
@@ -278,10 +278,15 @@ def _setup_scene(self):
         self.state_only = True
 
         if not self.state_only:
-            self.camera = Camera(self.cfg.third_person_camera)
-        # self.camera = Camera(self.cfg.camera)
-        # self.camera = Camera(self.cfg.tiled_third_person_camera)
-        # self.camera = Camera(self.cfg.tiled_camera)
+            camera_type = os.environ.get("ISAAC_LAB_CAMERA_TYPE", "THIRD_PERSON_CAMERA")
+            if camera_type == "THIRD_PERSON_CAMERA":
+                self.camera = Camera(self.cfg.third_person_camera)
+            elif camera_type == "CAMERA":
+                self.camera = Camera(self.cfg.camera)
+            elif camera_type == "TILED_THIRD_PERSON_CAMERA":
+                self.camera = Camera(self.cfg.tiled_third_person_camera)
+            elif camera_type == "TILED_CAMERA":
+                self.camera = Camera(self.cfg.tiled_camera)
 
         self.cabinet = Articulation(self.cfg.cabinet)
         self.tomato_soup_can = RigidObject(self.cfg.tomato_soup_can)

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_camera_env.py

@@ -6,6 +6,7 @@
 
 from __future__ import annotations
 
+import os
 import gymnasium as gym
 import numpy as np
 import torch
@@ -40,8 +41,8 @@ class ShadowHandRGBCameraEnvCfg(ShadowHandEnvCfg):
         spawn=sim_utils.PinholeCameraCfg(
             focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
         ),
-        width=320,
-        height=240,
+        width = int(os.environ.get("ISAAC_LAB_CAMERA_WIDTH", 320)),
+        height = int(os.environ.get("ISAAC_LAB_CAMERA_HEIGHT", 240)),
     )
     # tiled_camera: CameraCfg = CameraCfg(
     #     prim_path="/World/envs/env_.*/Camera",
@@ -77,8 +78,8 @@ class ShadowHandRGBDCameraEnvCfg(ShadowHandEnvCfg):
         spawn=sim_utils.PinholeCameraCfg(
             focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
         ),
-        width=160,
-        height=120,
+        width = int(os.environ.get("ISAAC_LAB_CAMERA_WIDTH", 320)),
+        height = int(os.environ.get("ISAAC_LAB_CAMERA_HEIGHT", 240)),
     )
     write_image_to_file = False
 
@@ -101,8 +102,8 @@ class ShadowHandDepthCameraEnvCfg(ShadowHandEnvCfg):
         spawn=sim_utils.PinholeCameraCfg(
             focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
         ),
-        width=320,
-        height=240,
+        width = int(os.environ.get("ISAAC_LAB_CAMERA_WIDTH", 320)),
+        height = int(os.environ.get("ISAAC_LAB_CAMERA_HEIGHT", 240)),
     )
     write_image_to_file = False