From 270fe4438bb2c87f6d73c1ec76956e6e908db006 Mon Sep 17 00:00:00 2001
From: Tyler Lum <tylergwlum@gmail.com>
Date: Fri, 7 Jul 2023 11:08:41 -0700
Subject: [PATCH] Fix usage of enableCameraSensors

---
 isaacgymenvs/cfg/task/AllegroHand.yaml                 | 6 +++---
 isaacgymenvs/cfg/task/AllegroHandDextremeADR.yaml      | 6 +++---
 isaacgymenvs/cfg/task/AllegroHandDextremeManualDR.yaml | 7 +++----
 isaacgymenvs/cfg/task/AllegroHandLSTM.yaml             | 6 +++---
 isaacgymenvs/tasks/base/vec_task.py                    | 2 +-
 5 files changed, 13 insertions(+), 14 deletions(-)

diff --git a/isaacgymenvs/cfg/task/AllegroHand.yaml b/isaacgymenvs/cfg/task/AllegroHand.yaml
index 5ef99c678..b71563ac6 100644
--- a/isaacgymenvs/cfg/task/AllegroHand.yaml
+++ b/isaacgymenvs/cfg/task/AllegroHand.yaml
@@ -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:
@@ -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
diff --git a/isaacgymenvs/cfg/task/AllegroHandDextremeADR.yaml b/isaacgymenvs/cfg/task/AllegroHandDextremeADR.yaml
index 7f5eea138..8836fef83 100644
--- a/isaacgymenvs/cfg/task/AllegroHandDextremeADR.yaml
+++ b/isaacgymenvs/cfg/task/AllegroHandDextremeADR.yaml
@@ -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:
@@ -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
diff --git a/isaacgymenvs/cfg/task/AllegroHandDextremeManualDR.yaml b/isaacgymenvs/cfg/task/AllegroHandDextremeManualDR.yaml
index 393d8fb11..01cf084b5 100644
--- a/isaacgymenvs/cfg/task/AllegroHandDextremeManualDR.yaml
+++ b/isaacgymenvs/cfg/task/AllegroHandDextremeManualDR.yaml
@@ -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:
@@ -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
diff --git a/isaacgymenvs/cfg/task/AllegroHandLSTM.yaml b/isaacgymenvs/cfg/task/AllegroHandLSTM.yaml
index dd5f6d8f1..127d0d2fc 100644
--- a/isaacgymenvs/cfg/task/AllegroHandLSTM.yaml
+++ b/isaacgymenvs/cfg/task/AllegroHandLSTM.yaml
@@ -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:
@@ -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
diff --git a/isaacgymenvs/tasks/base/vec_task.py b/isaacgymenvs/tasks/base/vec_task.py
index 9abc820fe..08a30be32 100644
--- a/isaacgymenvs/tasks/base/vec_task.py
+++ b/isaacgymenvs/tasks/base/vec_task.py
@@ -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