Cleaning up GUI and video CLI args

Author: Federico-PizarroBejarano

mm_run/config/sim/simulation.yaml

@@ -7,7 +7,7 @@ simulation:
     home: [0.0, 0.0, 0, 1.5708, -0.7854,  1.5708, -0.7854,  1.5708, 1.3100] # default
     tool_vicon_name: ThingContainer
 
-  pybullet_connection: "DIRECT"  # "Direct" or "GUI"
+  gui: False
 
   static_obstacles:
     enabled: False

mm_run/nodes/sim_ros.py

@@ -45,7 +45,8 @@ def main():
     config = parsing.load_config(args.config)
 
     if args.GUI:
-        config["simulation"]["pybullet_connection"] = "GUI"
+        config["simulation"]["gui"] = True
+
     if args.logging_sub_folder != "default":
         config["logging"]["log_dir"] = os.path.join(
             config["logging"]["log_dir"], args.logging_sub_folder

mm_run/scripts/experiments.py

@@ -90,7 +90,7 @@ def main():
         )
 
     if args.GUI:
-        config["simulation"]["pybullet_connection"] = "GUI"
+        config["simulation"]["gui"] = True
 
     sim_config = config["simulation"]
     ctrl_config = config["controller"]

mm_simulator/src/mm_simulator/simulation.py

@@ -340,9 +340,9 @@ def __init__(self, config, timestamp, cli_args=None):
         self.timestep = config["timestep"]
         self.duration = config["duration"]
 
-        if config["pybullet_connection"] == "GUI":
+        if config["gui"]:
             pyb.connect(pyb.GUI, options="--width=1280 --height=720")
-        elif config["pybullet_connection"] == "DIRECT":
+        else:
             pyb.connect(pyb.DIRECT)
 
         pyb.setGravity(*config["gravity"])
@@ -389,8 +389,8 @@ def __init__(self, config, timestamp, cli_args=None):
         debug_frame_world(0.2, list(r_ew_w), orientation=Q_we, line_width=3)
 
         # video recording
-        video_name = cli_args.video if cli_args is not None else None
-        if video_name is not None:
+        if cli_args is not None and "video" in cli_args:
+            video_name = cli_args.video
             self.video_manager = VideoManager.from_config(
                 video_name=video_name, config=config, timestamp=timestamp, r_ew_w=r_ew_w
             )