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Fix usage of enableCameraSensors #149

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Fix usage of enableCameraSensors #149

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6 changes: 3 additions & 3 deletions isaacgymenvs/cfg/task/AllegroHand.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,9 @@ env:
assetFileNameEgg: "mjcf/open_ai_assets/hand/egg.xml"
assetFileNamePen: "mjcf/open_ai_assets/hand/pen.xml"

# set to True if you use camera sensors in the environment
enableCameraSensors: False

task:
randomize: False
randomization_params:
Expand Down Expand Up @@ -155,9 +158,6 @@ task:
# schedule: "linear" # "linear" will scale the current random sample by `min(current num steps, schedule_steps) / schedule_steps`
# schedule_steps: 30000

# set to True if you use camera sensors in the environment
enableCameraSensors: False

sim:
dt: 0.01667 # 1/60
substeps: 2
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6 changes: 3 additions & 3 deletions isaacgymenvs/cfg/task/AllegroHandDextremeADR.yaml
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Expand Up @@ -96,6 +96,9 @@ env:
assetFileNameEgg: "mjcf/open_ai_assets/hand/egg.xml"
assetFileNamePen: "mjcf/open_ai_assets/hand/pen.xml"

# set to True if you use camera sensors in the environment
enableCameraSensors: False

task:
randomize: True
randomization_params:
Expand Down Expand Up @@ -418,9 +421,6 @@ task:
delta: 0.01
delta_style: 'additive'

# set to True if you use camera sensors in the environment
enableCameraSensors: False

sim:
dt: 0.01667 # 1/60
substeps: 2
Expand Down
7 changes: 3 additions & 4 deletions isaacgymenvs/cfg/task/AllegroHandDextremeManualDR.yaml
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Expand Up @@ -100,6 +100,9 @@ env:
assetFileNameEgg: "mjcf/open_ai_assets/hand/egg.xml"
assetFileNamePen: "mjcf/open_ai_assets/hand/pen.xml"

# set to True if you use camera sensors in the environment
enableCameraSensors: False

task:
randomize: True
randomization_params:
Expand Down Expand Up @@ -239,10 +242,6 @@ task:
operation: "additive"
distribution: "uniform"


# set to True if you use camera sensors in the environment
enableCameraSensors: False

sim:
dt: 0.01667 # 1/60
substeps: 2
Expand Down
6 changes: 3 additions & 3 deletions isaacgymenvs/cfg/task/AllegroHandLSTM.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,9 @@ env:
assetFileNameEgg: "mjcf/open_ai_assets/hand/egg.xml"
assetFileNamePen: "mjcf/open_ai_assets/hand/pen.xml"

# set to True if you use camera sensors in the environment
enableCameraSensors: False

task:
randomize: True
randomization_params:
Expand Down Expand Up @@ -247,9 +250,6 @@ task:
operation: "additive"
distribution: "uniform"

# set to True if you use camera sensors in the environment
enableCameraSensors: False

sim:
dt: 0.01667 # 1/60
substeps: 2
Expand Down
2 changes: 1 addition & 1 deletion isaacgymenvs/tasks/base/vec_task.py
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Expand Up @@ -93,7 +93,7 @@ def __init__(self, config: Dict[str, Any], rl_device: str, sim_device: str, grap
# if training in a headless mode
self.headless = headless

enable_camera_sensors = config.get("enableCameraSensors", False)
enable_camera_sensors = config["env"].get("enableCameraSensors", False)
self.graphics_device_id = graphics_device_id
if enable_camera_sensors == False and self.headless == True:
self.graphics_device_id = -1
Expand Down