diff --git a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py index 4ec5f4b91..a62e67f3c 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py +++ b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py @@ -26,7 +26,14 @@ class SawyerMocapBase(mjenv_gym): "render_fps": 80, } - def __init__(self, model_name, frame_skip=5, render_mode=None, camera_name=None, camera_id=None): + def __init__( + self, + model_name, + frame_skip=5, + render_mode=None, + camera_name=None, + camera_id=None, + ): mjenv_gym.__init__( self, model_name, @@ -34,7 +41,7 @@ def __init__(self, model_name, frame_skip=5, render_mode=None, camera_name=None, observation_space=self.sawyer_observation_space, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) self.reset_mocap_welds() self.frame_skip = frame_skip @@ -116,7 +123,7 @@ def __init__( action_rot_scale=1.0, render_mode=None, camera_id=None, - camera_name=None + camera_name=None, ): self.action_scale = action_scale self.action_rot_scale = action_rot_scale @@ -144,7 +151,13 @@ def __init__( self._partially_observable = True - super().__init__(model_name, frame_skip=frame_skip, render_mode=render_mode, camera_name=camera_name, camera_id=camera_id) + super().__init__( + model_name, + frame_skip=frame_skip, + render_mode=render_mode, + camera_name=camera_name, + camera_id=camera_id, + ) mujoco.mj_forward( self.model, self.data @@ -466,7 +479,7 @@ def step(self, action): raise ValueError("You must reset the env manually once truncate==True") self.do_simulation([action[-1], -action[-1]], n_frames=self.frame_skip) self.curr_path_length += 1 - + # Running the simulator can sometimes mess up site positions, so # re-position them here to make sure they're accurate for site in self._target_site_config: diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_assembly_peg_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_assembly_peg_v2.py index d4be48741..18e6471f5 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_assembly_peg_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_assembly_peg_v2.py @@ -27,9 +27,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - self.init_config = { "obj_init_angle": 0.3, diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_basketball_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_basketball_v2.py index e2dc4dac8..a080ff770 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_basketball_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_basketball_v2.py @@ -28,11 +28,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0, 0.6, 0.03], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_bin_picking_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_bin_picking_v2.py index 136063fbb..9d3bd4fcd 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_bin_picking_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_bin_picking_v2.py @@ -38,9 +38,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - + self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([-0.12, 0.7, 0.02]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_box_close_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_box_close_v2.py index 15bc23ce8..73c6477c5 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_box_close_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_box_close_v2.py @@ -25,9 +25,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - self.init_config = { "obj_init_angle": 0.3, diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_v2.py index 68016b987..26971329f 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_v2.py @@ -23,9 +23,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - + self.init_config = { "obj_init_pos": np.array([0, 0.8, 0.115], dtype=np.float32), "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_wall_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_wall_v2.py index 08843c60c..b2d6a18b5 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_wall_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_wall_v2.py @@ -23,11 +23,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.8, 0.115], dtype=np.float32), "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_v2.py index 8d3ec84a8..456aca468 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_v2.py @@ -23,11 +23,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0.0, 0.9, 0.115], dtype=np.float32), "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_wall_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_wall_v2.py index 10d06d673..a421af5bd 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_wall_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_wall_v2.py @@ -23,11 +23,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0.0, 0.9, 0.115], dtype=np.float32), "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_button_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_button_v2.py index 93c5dc13a..6e4892422 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_button_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_button_v2.py @@ -29,11 +29,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.9, 0.28]), "obj_init_angle": 0.3, diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_pull_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_pull_v2.py index 21631d621..71ff93148 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_pull_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_pull_v2.py @@ -26,11 +26,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.75, 0.0]), "obj_init_angle": 0.3, diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_push_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_push_v2.py index 1d8d9c40b..c312532de 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_push_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_push_v2.py @@ -26,10 +26,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0.0, 0.6, 0.0]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_dial_turn_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_dial_turn_v2.py index 90f7f7984..37f6fbf7a 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_dial_turn_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_dial_turn_v2.py @@ -27,11 +27,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.7, 0.0]), "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_disassemble_peg_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_disassemble_peg_v2.py index a7521b947..67a034710 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_disassemble_peg_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_disassemble_peg_v2.py @@ -27,11 +27,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0, 0.7, 0.025]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_close_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_close_v2.py index 024a19a47..ca2eee8a7 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_close_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_close_v2.py @@ -25,11 +25,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0.1, 0.95, 0.15], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_lock_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_lock_v2.py index b154ded85..9e2fb5c4a 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_lock_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_lock_v2.py @@ -23,12 +23,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - def __init__(self, render_mode=None, camera_name=None, camera_id=None): - self.tasks = tasks - self.init_config = { "obj_init_pos": np.array([0, 0.85, 0.15], dtype=np.float32), "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_unlock_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_unlock_v2.py index 3f46d25a2..fb6e984ef 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_unlock_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_unlock_v2.py @@ -24,11 +24,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.85, 0.15]), "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_v2.py index 3429b0a9f..f17766ce3 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_v2.py @@ -25,11 +25,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": np.array([0.3]), "obj_init_pos": np.array([0.1, 0.95, 0.15]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_close_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_close_v2.py index 65be711d7..f70365a96 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_close_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_close_v2.py @@ -25,11 +25,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": np.array( [ diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_open_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_open_v2.py index 661fd5186..8482ff86e 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_open_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_open_v2.py @@ -23,11 +23,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": np.array( [ diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_close_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_close_v2.py index 6b7106b76..c62c72e95 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_close_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_close_v2.py @@ -25,11 +25,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.8, 0.0]), "hand_init_pos": np.array([0.0, 0.4, 0.2]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_open_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_open_v2.py index 68f8960b2..85bc75956 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_open_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_open_v2.py @@ -25,11 +25,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.8, 0.0]), "hand_init_pos": np.array([0.0, 0.4, 0.2]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hammer_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hammer_v2.py index 8582f07fa..129e5ec41 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hammer_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hammer_v2.py @@ -27,11 +27,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "hammer_init_pos": np.array([0, 0.5, 0.0]), "hand_init_pos": np.array([0, 0.4, 0.2]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hand_insert_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hand_insert_v2.py index 7a09a83a5..ec712a81c 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hand_insert_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hand_insert_v2.py @@ -26,11 +26,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.6, 0.05]), "obj_init_angle": 0.3, diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_side_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_side_v2.py index c86421732..32fe9ad7c 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_side_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_side_v2.py @@ -38,11 +38,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([-0.3, 0.7, 0.0]), "hand_init_pos": np.array( diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_v2.py index d85869d63..6f3f2659f 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_v2.py @@ -27,11 +27,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.9, 0.0]), "hand_init_pos": np.array( diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_side_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_side_v2.py index f20cb1cea..6ca32cfd5 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_side_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_side_v2.py @@ -23,11 +23,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([-0.3, 0.7, 0.0]), "hand_init_pos": np.array( diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_v2.py index 178aeba0e..790fa1371 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_v2.py @@ -25,11 +25,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.9, 0.0]), "hand_init_pos": np.array( diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_lever_pull_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_lever_pull_v2.py index 50ab32067..074ef8ceb 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_lever_pull_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_lever_pull_v2.py @@ -39,11 +39,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.7, 0.0]), "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_insertion_side_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_insertion_side_v2.py index bf9eaccb6..c68a9cad9 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_insertion_side_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_insertion_side_v2.py @@ -46,11 +46,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.6, 0.02]), "hand_init_pos": np.array([0, 0.6, 0.2]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_unplug_side_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_unplug_side_v2.py index ea4eba885..9dbec1653 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_unplug_side_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_unplug_side_v2.py @@ -25,11 +25,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([-0.225, 0.6, 0.05]), "hand_init_pos": np.array((0, 0.6, 0.2)), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_out_of_hole_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_out_of_hole_v2.py index 01161e8d3..ff4c1c3b7 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_out_of_hole_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_out_of_hole_v2.py @@ -26,11 +26,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.6, 0.0]), "obj_init_angle": 0.3, diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_v2.py index a9f15c19b..2be2710b5 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_v2.py @@ -39,11 +39,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0, 0.6, 0.02]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_wall_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_wall_v2.py index 563c04a13..725db8a97 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_wall_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_wall_v2.py @@ -40,11 +40,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0, 0.6, 0.02]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_side_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_side_v2.py index 0c3000db5..cb6392429 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_side_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_side_v2.py @@ -41,11 +41,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([-0.25, 0.6, 0.02], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_v2.py index 9a6fd2477..b09cfe186 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_v2.py @@ -25,11 +25,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0.0, 0.85, 0.0], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_side_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_side_v2.py index 7fac0b8d8..59ee2686c 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_side_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_side_v2.py @@ -25,11 +25,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0.0, 0.6, 0.0], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_v2.py index bd9d8c897..0cdc46a4f 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_v2.py @@ -27,11 +27,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0.0, 0.6, 0.0], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_back_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_back_v2.py index 8cec1716d..141b60cd8 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_back_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_back_v2.py @@ -28,11 +28,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.8, 0.02]), "obj_init_angle": 0.3, diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_v2.py index f56b31b9d..d782670fb 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_v2.py @@ -41,11 +41,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0.0, 0.6, 0.02]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_wall_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_wall_v2.py index a15887f23..3ad9e97ce 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_wall_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_wall_v2.py @@ -44,11 +44,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0, 0.6, 0.02]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_v2.py index eb83e2e7f..8ed1716ab 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_v2.py @@ -40,11 +40,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0.0, 0.6, 0.02]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_wall_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_wall_v2.py index 345961487..76a954485 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_wall_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_wall_v2.py @@ -39,11 +39,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0, 0.6, 0.02]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_shelf_place_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_shelf_place_v2.py index bb4eccbad..cd873e3b3 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_shelf_place_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_shelf_place_v2.py @@ -26,11 +26,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.6, 0.02]), "obj_init_angle": 0.3, diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_soccer_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_soccer_v2.py index e710653a2..362b2c0eb 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_soccer_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_soccer_v2.py @@ -29,11 +29,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0, 0.6, 0.03]), "obj_init_angle": 0.3, diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_pull_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_pull_v2.py index 16f04f7e3..8d6c3fcfa 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_pull_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_pull_v2.py @@ -25,11 +25,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "stick_init_pos": np.array([0, 0.6, 0.02]), "hand_init_pos": np.array([0, 0.6, 0.2]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_push_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_push_v2.py index 72df30695..fd4ab0283 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_push_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_push_v2.py @@ -25,11 +25,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "stick_init_pos": np.array([-0.1, 0.6, 0.02]), "hand_init_pos": np.array([0, 0.6, 0.2]), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_into_goal_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_into_goal_v2.py index 1b6c05ae3..cb62770b0 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_into_goal_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_into_goal_v2.py @@ -27,11 +27,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0.0, 0.6, 0.02]), "obj_init_angle": 0.3, diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_v2.py index a67e3dec3..54a3f2cf8 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_v2.py @@ -27,11 +27,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_pos": np.array([0.0, 0.6, 0.02]), "obj_init_angle": 0.3, diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_close_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_close_v2.py index 5139c3717..09c06f119 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_close_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_close_v2.py @@ -38,11 +38,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0.1, 0.785, 0.16], dtype=np.float32), diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_open_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_open_v2.py index 48074bc7a..7e7c1dd64 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_open_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_open_v2.py @@ -36,11 +36,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): hand_high=hand_high, render_mode=render_mode, camera_name=camera_name, - camera_id=camera_id + camera_id=camera_id, ) - - self.init_config = { "obj_init_angle": np.array( [