pre-commit and fixing door env

Farama-Foundation · Jan 13, 2024 · 449a9d4 · 449a9d4
1 parent a8144aa
commit 449a9d4
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Showing 51 changed files with 70 additions and 151 deletions.
diff --git a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py
@@ -26,15 +26,22 @@ 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,
             frame_skip=frame_skip,
             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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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(