--[BugFix] GibsonSemanticScene JSON access.

[jturner65]

Motivation and Context

Reading a JSON element should be check exists then read, not attempt to read then check if null, which is what the GibsonSemanticScene attempts to do. This was failing an assertion in RapidJSON that was only visible if compiled in Debug mode; in Release RapidJSON silenced the assertion and attempted to work around the problem.

How Has This Been Tested

All C++ and python tests (in both release and debug)

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[aclegg3]

Thanks for identifying the issue and fixing it despite the silent failure. 🚀

[0mdc]

LGTM!