Change rendering info

Author: rdesarz

biped_walking_controller/simulation.py

@@ -373,8 +373,13 @@ def __init__(self, dt, path_to_robot_urdf: Path, model, launch_gui=True):
         # Initialize the simulator
         self.cid = pb.connect(
             pb.GUI if launch_gui else pb.DIRECT,
-            options="--window_title=PyBullet --width=1920 --height=1080",
+            options="--width=1200 --height=1200",
         )
+
+        pb.configureDebugVisualizer(pb.COV_ENABLE_GUI, 0)
+        pb.configureDebugVisualizer(pb.COV_ENABLE_RGB_BUFFER_PREVIEW, 0)
+        pb.configureDebugVisualizer(pb.COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0)
+        pb.configureDebugVisualizer(pb.COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0)
         pb.setAdditionalSearchPath(pybullet_data.getDataPath())
         pb.setGravity(0, 0, -9.81)
         pb.setTimeStep(dt)