Change default camera resolution to 540x540

CHANGELOG.md

@@ -12,7 +12,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [2.0.0] - 2024-07-30
 ### Changed
-- BREAKING: Migrated from gym to gymnasium.
+- Migrated from gym to gymnasium.
+- Default resolution of rendered camera images is changed from 270 to 540 pixels to
+  match the behaviour of the real robot.
 
 ### Added
 - Add py.typed marker for mypy

demos/demo_cameras.py

@@ -100,9 +100,7 @@ def main():
             images = cameras.get_images()
             # images are rgb --> convert to bgr for opencv
             images = [cv2.cvtColor(img, cv2.COLOR_RGB2BGR) for img in images]
-            cv2.imshow("camera60", images[0])
-            cv2.imshow("camera180", images[1])
-            cv2.imshow("camera300", images[2])
+            cv2.imshow("camera60 | camera180 | camera300", np.hstack(images))
             key = cv2.waitKey(int(time_step * 1000))
 
             if key == ord("s"):

trifinger_simulation/camera.py

@@ -157,7 +157,7 @@ def __init__(
         self,
         camera_position,
         camera_orientation,
-        image_size=(270, 270),
+        image_size=(540, 540),
         field_of_view=52,
         near_plane_distance=0.001,
         far_plane_distance=100.0,