v1.3 updates (#265)

Address remaining issues in #260

* remove unnecessary code and HAS_TORCH flag
* add set_camera_pos_quat function for iG

robosuite/environments/base.py

@@ -511,10 +511,10 @@ def visualize(self, vis_settings):
             obj.set_sites_visibility(sim=self.sim, visible=vis_settings["env"])
 
     def set_camera_pos_quat(self, camera_pos, camera_quat):
-        if self.renderer == "nvisii":
+        if self.renderer in ["nvisii", "igibson"]:
             self.viewer.set_camera_pos_quat(camera_pos, camera_quat)
         else:
-            print('Setting camera position and quat requires NVISII renderer.')
+            raise AttributeError('setting camera position and quat requires renderer to be either NVISII or iGibson.')
 
     def reset_from_xml_string(self, xml_string):
         """

robosuite/environments/robot_env.py

@@ -10,11 +10,6 @@
 from robosuite.robots import ROBOT_CLASS_MAPPING
 from robosuite.controllers import reset_controllers
 
-try:
-    import torch
-    HAS_TORCH = True
-except ImportError:
-    HAS_TORCH = False
 
 class RobotEnv(MujocoEnv):
     """

robosuite/renderers/igibson/igibson_renderer.py

@@ -368,7 +368,6 @@ def camera_normal(obs_cache):
 
         return sensors, names
 
-
     def _switch_camera(self, camera_name):
         """
         Change renderer camera to one of the available cameras of the environment
@@ -406,7 +405,7 @@ def _get_camera_pose(self, camera_name):
 
         raise Exception(f"Camera {self.env.render_camera} not present")
 
-    def _set_camera_pos_quat(self, pos, quat):
+    def set_camera_pos_quat(self, pos, quat):
         """Set renderer position and quaternion.
 
         Args: