diff --git a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py index a62e67f3c..211770656 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py +++ b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py @@ -561,6 +561,14 @@ def _get_state_rand_vec(self): if self._freeze_rand_vec: assert self._last_rand_vec is not None return self._last_rand_vec + elif self.seeded_rand_vec: + rand_vec = self.np_random.uniform( + self._random_reset_space.low, + self._random_reset_space.high, + size=self._random_reset_space.low.size, + ) + self._last_rand_vec = rand_vec + return rand_vec else: rand_vec = np.random.uniform( self._random_reset_space.low, diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/__init__.py b/metaworld/envs/mujoco/sawyer_xyz/v2/__init__.py index 95effb11d..bfe684cb0 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/__init__.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/__init__.py @@ -1,252 +1,130 @@ from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_assembly_peg_v2 import ( SawyerNutAssemblyEnvV2, - TestAssemblyv2, - TrainAssemblyv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_basketball_v2 import ( SawyerBasketballEnvV2, - TestBasketballv2, - TrainBasketballv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_bin_picking_v2 import ( SawyerBinPickingEnvV2, - TestBinPickingv2, - TrainBinPickingv2, -) -from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_box_close_v2 import ( - SawyerBoxCloseEnvV2, - TestBoxClosev2, - TrainBoxClosev2, ) +from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_box_close_v2 import SawyerBoxCloseEnvV2 from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_button_press_topdown_v2 import ( SawyerButtonPressTopdownEnvV2, - TestButtonPressTopdownv2, - TrainButtonPressTopdownv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_button_press_topdown_wall_v2 import ( SawyerButtonPressTopdownWallEnvV2, - TestButtonPressTopdownWallv2, - TrainButtonPressTopdownWallv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_button_press_v2 import ( SawyerButtonPressEnvV2, - TestButtonPressv2, - TrainButtonPressv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_button_press_wall_v2 import ( SawyerButtonPressWallEnvV2, - TestButtonPressWallv2, - TrainButtonPressWallv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_coffee_button_v2 import ( SawyerCoffeeButtonEnvV2, - TestCoffeeButtonv2, - TrainCoffeeButtonv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_coffee_pull_v2 import ( SawyerCoffeePullEnvV2, - TestCoffeePullv2, - TrainCoffeePullv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_coffee_push_v2 import ( SawyerCoffeePushEnvV2, - TestCoffeePushv2, - TrainCoffeePushv2, -) -from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_dial_turn_v2 import ( - SawyerDialTurnEnvV2, - TestDialTurnv2, - TrainDialTurnv2, ) +from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_dial_turn_v2 import SawyerDialTurnEnvV2 from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_disassemble_peg_v2 import ( SawyerNutDisassembleEnvV2, - TestDisassemblev2, - TrainDisassemblev2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_door_close_v2 import ( SawyerDoorCloseEnvV2, - TestDoorClosev2, - TrainDoorClosev2, -) -from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_door_lock_v2 import ( - SawyerDoorLockEnvV2, - TestDoorLockv2, - TrainDoorLockv2, ) +from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_door_lock_v2 import SawyerDoorLockEnvV2 from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_door_unlock_v2 import ( SawyerDoorUnlockEnvV2, - TestDoorUnlockv2, - TrainDoorUnlockv2, -) -from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_door_v2 import ( - SawyerDoorEnvV2, - TestDoorOpenv2, - TrainDoorOpenv2, ) +from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_door_v2 import SawyerDoorEnvV2 from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_drawer_close_v2 import ( SawyerDrawerCloseEnvV2, - TestDrawerClosev2, - TrainDrawerClosev2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_drawer_open_v2 import ( SawyerDrawerOpenEnvV2, - TestDrawerOpenv2, - TrainDrawerOpenv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_faucet_close_v2 import ( SawyerFaucetCloseEnvV2, - TestFaucetClosev2, - TrainFaucetClosev2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_faucet_open_v2 import ( SawyerFaucetOpenEnvV2, - TestFaucetOpenv2, - TrainFaucetOpenv2, -) -from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_hammer_v2 import ( - SawyerHammerEnvV2, - TestHammerv2, - TrainHammerv2, ) +from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_hammer_v2 import SawyerHammerEnvV2 from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_hand_insert_v2 import ( SawyerHandInsertEnvV2, - TestHandInsertv2, - TrainHandInsertv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_handle_press_side_v2 import ( SawyerHandlePressSideEnvV2, - TestHandlePressSidev2, - TrainHandlePressSidev2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_handle_press_v2 import ( SawyerHandlePressEnvV2, - TestHandlePressv2, - TrainHandlePressv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_handle_pull_side_v2 import ( SawyerHandlePullSideEnvV2, - TestHandlePullSidev2, - TrainHandlePullSidev2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_handle_pull_v2 import ( SawyerHandlePullEnvV2, - TestHandlePullv2, - TrainHandlePullv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_lever_pull_v2 import ( SawyerLeverPullEnvV2, - TestLeverPullv2, - TrainLeverPullv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_peg_insertion_side_v2 import ( SawyerPegInsertionSideEnvV2, - TestPegInsertionSidev2, - TrainPegInsertionSidev2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_peg_unplug_side_v2 import ( SawyerPegUnplugSideEnvV2, - TestPegUnplugSidev2, - TrainPegUnplugSidev2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_pick_out_of_hole_v2 import ( SawyerPickOutOfHoleEnvV2, - TestPickOutOfHolev2, - TrainPickOutOfHolev2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_pick_place_v2 import ( SawyerPickPlaceEnvV2, - TestPickPlacev2, - TrainPickPlacev2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_pick_place_wall_v2 import ( SawyerPickPlaceWallEnvV2, - TestPickPlaceWallv2, - TrainPickPlaceWallv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_plate_slide_back_side_v2 import ( SawyerPlateSlideBackSideEnvV2, - TestPlateSlideBackSidev2, - TrainPlateSlideBackSidev2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_plate_slide_back_v2 import ( SawyerPlateSlideBackEnvV2, - TestPlateSlideBackv2, - TrainPlateSlideBackv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_plate_slide_side_v2 import ( SawyerPlateSlideSideEnvV2, - TestPlateSlideSidev2, - TrainPlateSlideSidev2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_plate_slide_v2 import ( SawyerPlateSlideEnvV2, - TestPlateSlidev2, - TrainPlateSlidev2, -) -from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_push_back_v2 import ( - SawyerPushBackEnvV2, - TestPushBackv2, - TrainPushBackv2, -) -from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_push_v2 import ( - SawyerPushEnvV2, - TestPushv2, - TrainPushv2, -) -from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_push_wall_v2 import ( - SawyerPushWallEnvV2, - TestPushWallv2, - TrainPushWallv2, -) -from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_reach_v2 import ( - SawyerReachEnvV2, - TestReachv2, - TrainReachv2, ) +from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_push_back_v2 import SawyerPushBackEnvV2 +from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_push_v2 import SawyerPushEnvV2 +from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_push_wall_v2 import SawyerPushWallEnvV2 +from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_reach_v2 import SawyerReachEnvV2 from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_reach_wall_v2 import ( SawyerReachWallEnvV2, - TestReachWallv2, - TrainReachWallv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_shelf_place_v2 import ( SawyerShelfPlaceEnvV2, - TestShelfPlacev2, - TrainShelfPlacev2, -) -from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_soccer_v2 import ( - SawyerSoccerEnvV2, - TestSoccerv2, - TrainSoccerv2, ) +from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_soccer_v2 import SawyerSoccerEnvV2 from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_stick_pull_v2 import ( SawyerStickPullEnvV2, - TestStickPullv2, - TrainStickPullv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_stick_push_v2 import ( SawyerStickPushEnvV2, - TestStickPushv2, - TrainStickPushv2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_sweep_into_goal_v2 import ( SawyerSweepIntoGoalEnvV2, - TestSweepIntoGoalv2, - TrainSweepIntoGoalv2, -) -from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_sweep_v2 import ( - SawyerSweepEnvV2, - TestSweepv2, - TrainSweepv2, ) +from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_sweep_v2 import SawyerSweepEnvV2 from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_window_close_v2 import ( SawyerWindowCloseEnvV2, - TestWindowClosev2, - TrainWindowClosev2, ) from metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_window_open_v2 import ( SawyerWindowOpenEnvV2, - TestWindowOpenv2, - TrainWindowOpenv2, ) __all__ = [ 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 18e6471f5..3a5c2ce29 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 @@ -194,23 +194,3 @@ def compute_reward(self, actions, obs): reward_in_place, success, ) - - -class TrainAssemblyv2(SawyerNutAssemblyEnvV2): - tasks = None - - def __init__(self): - SawyerNutAssemblyEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestAssemblyv2(SawyerNutAssemblyEnvV2): - tasks = None - - def __init__(self): - SawyerNutAssemblyEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 a080ff770..05684e186 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_basketball_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_basketball_v2.py @@ -155,23 +155,3 @@ def compute_reward(self, action, obs): if target_to_obj < self.TARGET_RADIUS: reward = 10.0 return (reward, tcp_to_obj, tcp_opened, target_to_obj, object_grasped, in_place) - - -class TrainBasketballv2(SawyerBasketballEnvV2): - tasks = None - - def __init__(self): - SawyerBasketballEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestBasketballv2(SawyerBasketballEnvV2): - tasks = None - - def __init__(self): - SawyerBasketballEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 9d3bd4fcd..979e1ff41 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 @@ -197,23 +197,3 @@ def compute_reward(self, action, obs): object_grasped, in_place, ) - - -class TrainBinPickingv2(SawyerBinPickingEnvV2): - tasks = None - - def __init__(self): - SawyerBinPickingEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestBinPickingv2(SawyerBinPickingEnvV2): - tasks = None - - def __init__(self): - SawyerBinPickingEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 73c6477c5..3d653bd65 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 @@ -196,23 +196,3 @@ def compute_reward(self, actions, obs): *reward_steps, success, ) - - -class TrainBoxClosev2(SawyerBoxCloseEnvV2): - tasks = None - - def __init__(self): - SawyerBoxCloseEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestBoxClosev2(SawyerBoxCloseEnvV2): - tasks = None - - def __init__(self): - SawyerBoxCloseEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 26971329f..5bf16c140 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 @@ -132,23 +132,3 @@ def compute_reward(self, action, obs): reward += 5 * button_pressed return (reward, tcp_to_obj, obs[3], obj_to_target, near_button, button_pressed) - - -class TrainButtonPressTopdownv2(SawyerButtonPressTopdownEnvV2): - tasks = None - - def __init__(self): - SawyerButtonPressTopdownEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestButtonPressTopdownv2(SawyerButtonPressTopdownEnvV2): - tasks = None - - def __init__(self): - SawyerButtonPressTopdownEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 b2d6a18b5..4cba6632d 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 @@ -136,23 +136,3 @@ def compute_reward(self, action, obs): reward += 5 * button_pressed return (reward, tcp_to_obj, obs[3], obj_to_target, near_button, button_pressed) - - -class TrainButtonPressTopdownWallv2(SawyerButtonPressTopdownWallEnvV2): - tasks = None - - def __init__(self): - SawyerButtonPressTopdownWallEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestButtonPressTopdownWallv2(SawyerButtonPressTopdownWallEnvV2): - tasks = None - - def __init__(self): - SawyerButtonPressTopdownWallEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 456aca468..b64278cde 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 @@ -136,23 +136,3 @@ def compute_reward(self, action, obs): reward += 8 * button_pressed return (reward, tcp_to_obj, obs[3], obj_to_target, near_button, button_pressed) - - -class TrainButtonPressv2(SawyerButtonPressEnvV2): - tasks = None - - def __init__(self): - SawyerButtonPressEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestButtonPressv2(SawyerButtonPressEnvV2): - tasks = None - - def __init__(self): - SawyerButtonPressEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 a421af5bd..1c9a05bb5 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 @@ -143,23 +143,3 @@ def compute_reward(self, action, obs): reward += 2 * (1 + obs[3]) reward += 4 * button_pressed**2 return (reward, tcp_to_obj, obs[3], obj_to_target, near_button, button_pressed) - - -class TrainButtonPressWallv2(SawyerButtonPressWallEnvV2): - tasks = None - - def __init__(self): - SawyerButtonPressWallEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestButtonPressWallv2(SawyerButtonPressWallEnvV2): - tasks = None - - def __init__(self): - SawyerButtonPressWallEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 6e4892422..2c98b147b 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 @@ -139,23 +139,3 @@ def compute_reward(self, action, obs): reward += 8 * button_pressed return (reward, tcp_to_obj, obs[3], obj_to_target, near_button, button_pressed) - - -class TrainCoffeeButtonv2(SawyerCoffeeButtonEnvV2): - tasks = None - - def __init__(self): - SawyerCoffeeButtonEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestCoffeeButtonv2(SawyerCoffeeButtonEnvV2): - tasks = None - - def __init__(self): - SawyerCoffeeButtonEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 71ff93148..8586fccf1 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 @@ -156,23 +156,3 @@ def compute_reward(self, action, obs): object_grasped, in_place, ) - - -class TrainCoffeePullv2(SawyerCoffeePullEnvV2): - tasks = None - - def __init__(self): - SawyerCoffeePullEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestCoffeePullv2(SawyerCoffeePullEnvV2): - tasks = None - - def __init__(self): - SawyerCoffeePullEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 c312532de..6bd0c40c0 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 @@ -157,23 +157,3 @@ def compute_reward(self, action, obs): object_grasped, in_place, ) - - -class TrainCoffeePushv2(SawyerCoffeePushEnvV2): - tasks = None - - def __init__(self): - SawyerCoffeePushEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestCoffeePushv2(SawyerCoffeePushEnvV2): - tasks = None - - def __init__(self): - SawyerCoffeePushEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 37f6fbf7a..5dfa86d37 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 @@ -146,23 +146,3 @@ def compute_reward(self, action, obs): object_grasped, in_place, ) - - -class TrainDialTurnv2(SawyerDialTurnEnvV2): - tasks = None - - def __init__(self): - SawyerDialTurnEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestDialTurnv2(SawyerDialTurnEnvV2): - tasks = None - - def __init__(self): - SawyerDialTurnEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 67a034710..ddd6cc43b 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 @@ -183,23 +183,3 @@ def compute_reward(self, actions, obs): reward_in_place, success, ) - - -class TrainDisassemblev2(SawyerNutDisassembleEnvV2): - tasks = None - - def __init__(self): - SawyerNutDisassembleEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestDisassemblev2(SawyerNutDisassembleEnvV2): - tasks = None - - def __init__(self): - SawyerNutDisassembleEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 ca2eee8a7..656329d73 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 @@ -129,23 +129,3 @@ def compute_reward(self, actions, obs): reward = 10 return [reward, obj_to_target, hand_in_place] - - -class TrainDoorClosev2(SawyerDoorCloseEnvV2): - tasks = None - - def __init__(self): - SawyerDoorCloseEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestDoorClosev2(SawyerDoorCloseEnvV2): - tasks = None - - def __init__(self): - SawyerDoorCloseEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 9e2fb5c4a..34a1b4c5f 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 @@ -128,23 +128,3 @@ def compute_reward(self, action, obs): reward += 8 * lock_pressed return (reward, tcp_to_obj, obs[3], obj_to_target, near_lock, lock_pressed) - - -class TrainDoorLockv2(SawyerDoorLockEnvV2): - tasks = None - - def __init__(self): - SawyerDoorLockEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestDoorLockv2(SawyerDoorLockEnvV2): - tasks = None - - def __init__(self): - SawyerDoorLockEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 fb6e984ef..ed18e6bfb 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 @@ -143,23 +143,3 @@ def compute_reward(self, action, obs): ready_to_push, pushed, ) - - -class TrainDoorUnlockv2(SawyerDoorUnlockEnvV2): - tasks = None - - def __init__(self): - SawyerDoorUnlockEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestDoorUnlockv2(SawyerDoorUnlockEnvV2): - tasks = None - - def __init__(self): - SawyerDoorUnlockEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 f17766ce3..5901361f0 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_v2.py @@ -184,23 +184,3 @@ def compute_reward(self, actions, obs): reward_grab, *reward_steps, ) - - -class TrainDoorOpenv2(SawyerDoorEnvV2): - tasks = None - - def __init__(self): - SawyerDoorEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestDoorOpenv2(SawyerDoorEnvV2): - tasks = None - - def __init__(self): - SawyerDoorEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 f70365a96..6fdd3ee3c 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 @@ -151,23 +151,3 @@ def compute_reward(self, action, obs): reward *= 10 return (reward, tcp_to_obj, tcp_opened, target_to_obj, object_grasped, in_place) - - -class TrainDrawerClosev2(SawyerDrawerCloseEnvV2): - tasks = None - - def __init__(self): - SawyerDrawerCloseEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestDrawerClosev2(SawyerDrawerCloseEnvV2): - tasks = None - - def __init__(self): - SawyerDrawerCloseEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 8482ff86e..67daebd50 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 @@ -145,23 +145,3 @@ def compute_reward(self, action, obs): reward_for_caging, reward_for_opening, ) - - -class TrainDrawerOpenv2(SawyerDrawerOpenEnvV2): - tasks = None - - def __init__(self): - SawyerDrawerOpenEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestDrawerOpenv2(SawyerDrawerOpenEnvV2): - tasks = None - - def __init__(self): - SawyerDrawerOpenEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 c62c72e95..6a14b03e2 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 @@ -139,23 +139,3 @@ def compute_reward(self, action, obs): reward = 10 if target_to_obj <= self._target_radius else reward return (reward, tcp_to_obj, tcp_opened, target_to_obj, object_grasped, in_place) - - -class TrainFaucetClosev2(SawyerFaucetCloseEnvV2): - tasks = None - - def __init__(self): - SawyerFaucetCloseEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestFaucetClosev2(SawyerFaucetCloseEnvV2): - tasks = None - - def __init__(self): - SawyerFaucetCloseEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 85bc75956..400e0270a 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 @@ -142,23 +142,3 @@ def compute_reward(self, action, obs): reward = 10 if target_to_obj <= self._target_radius else reward return (reward, tcp_to_obj, tcp_opened, target_to_obj, object_grasped, in_place) - - -class TrainFaucetOpenv2(SawyerFaucetOpenEnvV2): - tasks = None - - def __init__(self): - SawyerFaucetOpenEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestFaucetOpenv2(SawyerFaucetOpenEnvV2): - tasks = None - - def __init__(self): - SawyerFaucetOpenEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 129e5ec41..620d66175 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hammer_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hammer_v2.py @@ -172,23 +172,3 @@ def compute_reward(self, actions, obs): reward_in_place, success, ) - - -class TrainHammerv2(SawyerHammerEnvV2): - tasks = None - - def __init__(self): - SawyerHammerEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestHammerv2(SawyerHammerEnvV2): - tasks = None - - def __init__(self): - SawyerHammerEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 ec712a81c..1a64fee97 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 @@ -135,23 +135,3 @@ def compute_reward(self, action, obs): if target_to_obj < self.TARGET_RADIUS: reward = 10.0 return (reward, tcp_to_obj, tcp_opened, target_to_obj, object_grasped, in_place) - - -class TrainHandInsertv2(SawyerHandInsertEnvV2): - tasks = None - - def __init__(self): - SawyerHandInsertEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestHandInsertv2(SawyerHandInsertEnvV2): - tasks = None - - def __init__(self): - SawyerHandInsertEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 32fe9ad7c..2d689a333 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 @@ -152,23 +152,3 @@ def compute_reward(self, actions, obs): reward = 1 if target_to_obj <= self.TARGET_RADIUS else reward reward *= 10 return (reward, tcp_to_obj, tcp_opened, target_to_obj, object_grasped, in_place) - - -class TrainHandlePressSidev2(SawyerHandlePressSideEnvV2): - tasks = None - - def __init__(self): - SawyerHandlePressSideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestHandlePressSidev2(SawyerHandlePressSideEnvV2): - tasks = None - - def __init__(self): - SawyerHandlePressSideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 6f3f2659f..cd8004b53 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 @@ -144,23 +144,3 @@ def compute_reward(self, actions, obs): reward = 1 if target_to_obj <= self.TARGET_RADIUS else reward reward *= 10 return (reward, tcp_to_obj, tcp_opened, target_to_obj, object_grasped, in_place) - - -class TrainHandlePressv2(SawyerHandlePressEnvV2): - tasks = None - - def __init__(self): - SawyerHandlePressEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestHandlePressv2(SawyerHandlePressEnvV2): - tasks = None - - def __init__(self): - SawyerHandlePressEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 6ca32cfd5..ab663dff4 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 @@ -155,23 +155,3 @@ def compute_reward(self, action, obs): if target_to_obj < self.TARGET_RADIUS: reward = 10.0 return (reward, tcp_to_obj, tcp_opened, target_to_obj, object_grasped, in_place) - - -class TrainHandlePullSidev2(SawyerHandlePullSideEnvV2): - tasks = None - - def __init__(self): - SawyerHandlePullSideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestHandlePullSidev2(SawyerHandlePullSideEnvV2): - tasks = None - - def __init__(self): - SawyerHandlePullSideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 790fa1371..622eba505 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 @@ -140,23 +140,3 @@ def compute_reward(self, action, obs): if target_to_obj < self.TARGET_RADIUS: reward = 10.0 return (reward, tcp_to_obj, tcp_opened, target_to_obj, object_grasped, in_place) - - -class TrainHandlePullv2(SawyerHandlePullEnvV2): - tasks = None - - def __init__(self): - SawyerHandlePullEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestHandlePullv2(SawyerHandlePullEnvV2): - tasks = None - - def __init__(self): - SawyerHandlePullEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 074ef8ceb..b4c385e81 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 @@ -173,23 +173,3 @@ def compute_reward(self, action, obs): lever_error, lever_engagement, ) - - -class TrainLeverPullv2(SawyerLeverPullEnvV2): - tasks = None - - def __init__(self): - SawyerLeverPullEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestLeverPullv2(SawyerLeverPullEnvV2): - tasks = None - - def __init__(self): - SawyerLeverPullEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 c68a9cad9..4bf4a41da 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 @@ -209,23 +209,3 @@ def compute_reward(self, action, obs): collision_boxes, ip_orig, ] - - -class TrainPegInsertionSidev2(SawyerPegInsertionSideEnvV2): - tasks = None - - def __init__(self): - SawyerPegInsertionSideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestPegInsertionSidev2(SawyerPegInsertionSideEnvV2): - tasks = None - - def __init__(self): - SawyerPegInsertionSideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 9dbec1653..23cea6a83 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 @@ -152,23 +152,3 @@ def compute_reward(self, action, obs): in_place, float(grasp_success), ) - - -class TrainPegUnplugSidev2(SawyerPegUnplugSideEnvV2): - tasks = None - - def __init__(self): - SawyerPegUnplugSideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestPegUnplugSidev2(SawyerPegUnplugSideEnvV2): - tasks = None - - def __init__(self): - SawyerPegUnplugSideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 ff4c1c3b7..209c9e77b 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 @@ -166,23 +166,3 @@ def compute_reward(self, action, obs): object_grasped, in_place, ) - - -class TrainPickOutOfHolev2(SawyerPickOutOfHoleEnvV2): - tasks = None - - def __init__(self): - SawyerPickOutOfHoleEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestPickOutOfHolev2(SawyerPickOutOfHoleEnvV2): - tasks = None - - def __init__(self): - SawyerPickOutOfHoleEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 2be2710b5..304082791 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 @@ -234,23 +234,3 @@ def compute_reward(self, action, obs): if obj_to_target < _TARGET_RADIUS: reward = 10.0 return [reward, tcp_to_obj, tcp_opened, obj_to_target, object_grasped, in_place] - - -class TrainPickPlacev2(SawyerPickPlaceEnvV2): - tasks = None - - def __init__(self): - SawyerPickPlaceEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestPickPlacev2(SawyerPickPlaceEnvV2): - tasks = None - - def __init__(self): - SawyerPickPlaceEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 725db8a97..654fee547 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 @@ -201,23 +201,3 @@ def compute_reward(self, action, obs): object_grasped, in_place_part2, ] - - -class TrainPickPlaceWallv2(SawyerPickPlaceWallEnvV2): - tasks = None - - def __init__(self): - SawyerPickPlaceWallEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestPickPlaceWallv2(SawyerPickPlaceWallEnvV2): - tasks = None - - def __init__(self): - SawyerPickPlaceWallEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 cb6392429..0d83a526c 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 @@ -158,23 +158,3 @@ def compute_reward(self, actions, obs): if obj_to_target < _TARGET_RADIUS: reward = 10.0 return [reward, tcp_to_obj, tcp_opened, obj_to_target, object_grasped, in_place] - - -class TrainPlateSlideBackSidev2(SawyerPlateSlideBackSideEnvV2): - tasks = None - - def __init__(self): - SawyerPlateSlideBackSideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestPlateSlideBackSidev2(SawyerPlateSlideBackSideEnvV2): - tasks = None - - def __init__(self): - SawyerPlateSlideBackSideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 b09cfe186..b0e493f88 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 @@ -133,23 +133,3 @@ def compute_reward(self, actions, obs): if obj_to_target < _TARGET_RADIUS: reward = 10.0 return [reward, tcp_to_obj, tcp_opened, obj_to_target, object_grasped, in_place] - - -class TrainPlateSlideBackv2(SawyerPlateSlideBackEnvV2): - tasks = None - - def __init__(self): - SawyerPlateSlideBackEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestPlateSlideBackv2(SawyerPlateSlideBackEnvV2): - tasks = None - - def __init__(self): - SawyerPlateSlideBackEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 59ee2686c..8ddffcebd 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 @@ -136,23 +136,3 @@ def compute_reward(self, actions, obs): if obj_to_target < _TARGET_RADIUS: reward = 10.0 return [reward, tcp_to_obj, tcp_opened, obj_to_target, object_grasped, in_place] - - -class TrainPlateSlideSidev2(SawyerPlateSlideSideEnvV2): - tasks = None - - def __init__(self): - SawyerPlateSlideSideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestPlateSlideSidev2(SawyerPlateSlideSideEnvV2): - tasks = None - - def __init__(self): - SawyerPlateSlideSideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 0cdc46a4f..72f15822d 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 @@ -139,23 +139,3 @@ def compute_reward(self, action, obs): if obj_to_target < _TARGET_RADIUS: reward = 10.0 return [reward, tcp_to_obj, tcp_opened, obj_to_target, object_grasped, in_place] - - -class TrainPlateSlidev2(SawyerPlateSlideEnvV2): - tasks = None - - def __init__(self): - SawyerPlateSlideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestPlateSlidev2(SawyerPlateSlideEnvV2): - tasks = None - - def __init__(self): - SawyerPlateSlideEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 141b60cd8..12635247e 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 @@ -229,23 +229,3 @@ def compute_reward(self, action, obs): if target_to_obj < self.TARGET_RADIUS: reward = 10.0 return (reward, tcp_to_obj, tcp_opened, target_to_obj, object_grasped, in_place) - - -class TrainPushBackv2(SawyerPushBackEnvV2): - tasks = None - - def __init__(self): - SawyerPushBackEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestPushBackv2(SawyerPushBackEnvV2): - tasks = None - - def __init__(self): - SawyerPushBackEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 d782670fb..0e08b1243 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_v2.py @@ -168,23 +168,3 @@ def compute_reward(self, action, obs): if target_to_obj < self.TARGET_RADIUS: reward = 10.0 return (reward, tcp_to_obj, tcp_opened, target_to_obj, object_grasped, in_place) - - -class TrainPushv2(SawyerPushEnvV2): - tasks = None - - def __init__(self): - SawyerPushEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestPushv2(SawyerPushEnvV2): - tasks = None - - def __init__(self): - SawyerPushEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 3ad9e97ce..99b26856e 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 @@ -190,23 +190,3 @@ def compute_reward(self, action, obs): object_grasped, in_place_part2, ] - - -class TrainPushWallv2(SawyerPushWallEnvV2): - tasks = None - - def __init__(self): - SawyerPushWallEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestPushWallv2(SawyerPushWallEnvV2): - tasks = None - - def __init__(self): - SawyerPushWallEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 8ed1716ab..3882a77c8 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_v2.py @@ -135,23 +135,3 @@ def compute_reward(self, actions, obs): ) return [10 * in_place, tcp_to_target, in_place] - - -class TrainReachv2(SawyerReachEnvV2): - tasks = None - - def __init__(self): - SawyerReachEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestReachv2(SawyerReachEnvV2): - tasks = None - - def __init__(self): - SawyerReachEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 76a954485..d4638b21b 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 @@ -126,23 +126,3 @@ def compute_reward(self, actions, obs): ) return [10 * in_place, tcp_to_target, in_place] - - -class TrainReachWallv2(SawyerReachWallEnvV2): - tasks = None - - def __init__(self): - SawyerReachWallEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestReachWallv2(SawyerReachWallEnvV2): - tasks = None - - def __init__(self): - SawyerReachWallEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 cd873e3b3..19c8ae681 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 @@ -186,23 +186,3 @@ def compute_reward(self, action, obs): if obj_to_target < _TARGET_RADIUS: reward = 10.0 return [reward, tcp_to_obj, tcp_opened, obj_to_target, object_grasped, in_place] - - -class TrainShelfPlacev2(SawyerShelfPlaceEnvV2): - tasks = None - - def __init__(self): - SawyerShelfPlaceEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestShelfPlacev2(SawyerShelfPlaceEnvV2): - tasks = None - - def __init__(self): - SawyerShelfPlaceEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 362b2c0eb..51ec9babb 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_soccer_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_soccer_v2.py @@ -232,23 +232,3 @@ def compute_reward(self, action, obs): object_grasped, in_place, ) - - -class TrainSoccerv2(SawyerSoccerEnvV2): - tasks = None - - def __init__(self): - SawyerSoccerEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestSoccerv2(SawyerSoccerEnvV2): - tasks = None - - def __init__(self): - SawyerSoccerEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 8d6c3fcfa..3b899a072 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 @@ -244,23 +244,3 @@ def compute_reward(self, action, obs): object_grasped, stick_in_place, ] - - -class TrainStickPullv2(SawyerStickPullEnvV2): - tasks = None - - def __init__(self): - SawyerStickPullEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestStickPullv2(SawyerStickPullEnvV2): - tasks = None - - def __init__(self): - SawyerStickPullEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 fd4ab0283..47d39b044 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 @@ -302,23 +302,3 @@ def compute_reward(self, action, obs): object_grasped, stick_in_place, ] - - -class TrainStickPushv2(SawyerStickPushEnvV2): - tasks = None - - def __init__(self): - SawyerStickPushEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestStickPushv2(SawyerStickPushEnvV2): - tasks = None - - def __init__(self): - SawyerStickPushEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 cb62770b0..10f275c2c 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 @@ -215,23 +215,3 @@ def compute_reward(self, action, obs): if obj_to_target < _TARGET_RADIUS: reward = 10.0 return [reward, tcp_to_obj, tcp_opened, obj_to_target, object_grasped, in_place] - - -class TrainSweepIntoGoalv2(SawyerSweepIntoGoalEnvV2): - tasks = None - - def __init__(self): - SawyerSweepIntoGoalEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestSweepIntoGoalv2(SawyerSweepIntoGoalEnvV2): - tasks = None - - def __init__(self): - SawyerSweepIntoGoalEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 54a3f2cf8..8d44d1ceb 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_v2.py @@ -214,23 +214,3 @@ def compute_reward(self, action, obs): if obj_to_target < _TARGET_RADIUS: reward = 10.0 return [reward, tcp_to_obj, tcp_opened, obj_to_target, object_grasped, in_place] - - -class TrainSweepv2(SawyerSweepEnvV2): - tasks = None - - def __init__(self): - SawyerSweepEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestSweepv2(SawyerSweepEnvV2): - tasks = None - - def __init__(self): - SawyerSweepEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 09c06f119..41308be65 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 @@ -153,23 +153,3 @@ def compute_reward(self, actions, obs): reward = 10 * reward_utils.hamacher_product(reach, in_place) return (reward, tcp_to_obj, tcp_opened, target_to_obj, object_grasped, in_place) - - -class TrainWindowClosev2(SawyerWindowCloseEnvV2): - tasks = None - - def __init__(self): - SawyerWindowCloseEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestWindowClosev2(SawyerWindowCloseEnvV2): - tasks = None - - def __init__(self): - SawyerWindowCloseEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) 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 7e7c1dd64..1d84ef514 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 @@ -146,23 +146,3 @@ def compute_reward(self, actions, obs): reward = 10 * reward_utils.hamacher_product(reach, in_place) return (reward, tcp_to_obj, tcp_opened, target_to_obj, object_grasped, in_place) - - -class TrainWindowOpenv2(SawyerWindowOpenEnvV2): - tasks = None - - def __init__(self): - SawyerWindowOpenEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options) - - -class TestWindowOpenv2(SawyerWindowOpenEnvV2): - tasks = None - - def __init__(self): - SawyerWindowOpenEnvV2.__init__(self, self.tasks) - - def reset(self, seed=None, options=None): - return super().reset(seed=seed, options=options)