deploy: 5ca0c32

Author: ooctipus

main/_modules/isaaclab/sim/simulation_context.html

@@ -907,11 +907,14 @@ <h1>Source code for isaaclab.sim.simulation_context</h1><div class="highlight"><
                     <span class="sa">f</span><span class="s2">&quot;RenderCfg rendering mode &#39;</span><span class="si">{</span><span class="n">rendering_mode</span><span class="si">}</span><span class="s2">&#39; not in supported modes </span><span class="si">{</span><span class="n">supported_rendering_modes</span><span class="si">}</span><span class="s2">.&quot;</span>
                 <span class="p">)</span>
 
-            <span class="c1"># parse preset file</span>
-            <span class="n">repo_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">carb</span><span class="o">.</span><span class="n">tokens</span><span class="o">.</span><span class="n">get_tokens_interface</span><span class="p">()</span><span class="o">.</span><span class="n">resolve</span><span class="p">(</span><span class="s2">&quot;$</span><span class="si">{app}</span><span class="s2">&quot;</span><span class="p">),</span> <span class="s2">&quot;..&quot;</span><span class="p">)</span>
+            <span class="c1"># grab isaac lab apps path</span>
+            <span class="n">isaaclab_app_exp_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="vm">__file__</span><span class="p">)),</span> <span class="o">*</span><span class="p">[</span><span class="s2">&quot;..&quot;</span><span class="p">]</span> <span class="o">*</span> <span class="mi">4</span><span class="p">,</span> <span class="s2">&quot;apps&quot;</span><span class="p">)</span>
+            <span class="c1"># for Isaac Sim 4.5 compatibility, we use the 4.5 rendering mode app files in a different folder</span>
             <span class="k">if</span> <span class="nb">float</span><span class="p">(</span><span class="s2">&quot;.&quot;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_isaacsim_version</span><span class="p">[</span><span class="mi">2</span><span class="p">]))</span> <span class="o">&lt;</span> <span class="mi">5</span><span class="p">:</span>
-                <span class="n">repo_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">repo_path</span><span class="p">,</span> <span class="s2">&quot;..&quot;</span><span class="p">)</span>
-            <span class="n">preset_filename</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">repo_path</span><span class="p">,</span> <span class="sa">f</span><span class="s2">&quot;apps/rendering_modes/</span><span class="si">{</span><span class="n">rendering_mode</span><span class="si">}</span><span class="s2">.kit&quot;</span><span class="p">)</span>
+                <span class="n">isaaclab_app_exp_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">isaaclab_app_exp_path</span><span class="p">,</span> <span class="s2">&quot;isaacsim_4_5&quot;</span><span class="p">)</span>
+
+            <span class="c1"># grab preset settings</span>
+            <span class="n">preset_filename</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">isaaclab_app_exp_path</span><span class="p">,</span> <span class="sa">f</span><span class="s2">&quot;rendering_modes/</span><span class="si">{</span><span class="n">rendering_mode</span><span class="si">}</span><span class="s2">.kit&quot;</span><span class="p">)</span>
             <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">preset_filename</span><span class="p">)</span> <span class="k">as</span> <span class="n">file</span><span class="p">:</span>
                 <span class="n">preset_dict</span> <span class="o">=</span> <span class="n">toml</span><span class="o">.</span><span class="n">load</span><span class="p">(</span><span class="n">file</span><span class="p">)</span>
             <span class="n">preset_dict</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">(</span><span class="n">flatdict</span><span class="o">.</span><span class="n">FlatDict</span><span class="p">(</span><span class="n">preset_dict</span><span class="p">,</span> <span class="n">delimiter</span><span class="o">=</span><span class="s2">&quot;.&quot;</span><span class="p">))</span>