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 984235b0..11fac8d8 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 @@ -32,11 +32,11 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_config = { "obj_init_angle": 0.3, - "obj_init_pos": np.array([0, 0.6, 0.02], dtype=np.float32), - "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float32), + "obj_init_pos": np.array([0, 0.6, 0.02], dtype=np.float64), + "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float64), } - self.goal = np.array([0.1, 0.8, 0.1], dtype=np.float32) + self.goal = np.array([0.1, 0.8, 0.1], dtype=np.float64) self.obj_init_pos = self.init_config["obj_init_pos"] self.obj_init_angle = self.init_config["obj_init_angle"] self.hand_init_pos = self.init_config["hand_init_pos"] @@ -46,8 +46,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 05684e18..28ffec76 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_basketball_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_basketball_v2.py @@ -33,8 +33,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_config = { "obj_init_angle": 0.3, - "obj_init_pos": np.array([0, 0.6, 0.03], dtype=np.float32), - "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float32), + "obj_init_pos": np.array([0, 0.6, 0.03], dtype=np.float64), + "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float64), } self.goal = np.array([0, 0.9, 0]) self.obj_init_pos = self.init_config["obj_init_pos"] 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 49f33dbc..09e34c63 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 @@ -30,8 +30,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_config = { "obj_init_angle": 0.3, - "obj_init_pos": np.array([0, 0.55, 0.02], dtype=np.float32), - "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float32), + "obj_init_pos": np.array([0, 0.55, 0.02], dtype=np.float64), + "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float64), } self.goal = np.array([0.0, 0.75, 0.133]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -41,8 +41,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self._target_to_obj_init = None self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) self._random_reset_space = Box( np.hstack((obj_low, goal_low)), 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 434cf16d..48750602 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 @@ -27,8 +27,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): ) 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), + "obj_init_pos": np.array([0, 0.8, 0.115], dtype=np.float64), + "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float64), } self.goal = np.array([0, 0.88, 0.1]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -38,12 +38,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): goal_high = self.hand_high self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 bacc94cd..49167ef1 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 @@ -27,8 +27,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): ) 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), + "obj_init_pos": np.array([0, 0.8, 0.115], dtype=np.float64), + "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float64), } self.goal = np.array([0, 0.88, 0.1]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -38,12 +38,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): goal_high = self.hand_high self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 cfff0fbd..4a86a109 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 @@ -27,8 +27,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): ) 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), + "obj_init_pos": np.array([0.0, 0.9, 0.115], dtype=np.float64), + "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float64), } self.goal = np.array([0, 0.78, 0.12]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -37,12 +37,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): goal_high = self.hand_high self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 72e60048..0b966884 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 @@ -27,8 +27,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): ) 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), + "obj_init_pos": np.array([0.0, 0.9, 0.115], dtype=np.float64), + "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float64), } self.goal = np.array([0, 0.84, 0.12]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -38,13 +38,13 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): goal_high = self.hand_high self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 cf89ef82..eac578a0 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 @@ -43,12 +43,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.hand_init_pos = self.init_config["hand_init_pos"] self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 259c854f..03c88bec 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 @@ -44,8 +44,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 e8edc10c..33aa94fc 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 @@ -44,8 +44,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 8ea123cd..4138024e 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 @@ -32,19 +32,19 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): 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), + "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float64), } self.goal = np.array([0.0, 0.73, 0.08]) self.obj_init_pos = self.init_config["obj_init_pos"] self.hand_init_pos = self.init_config["hand_init_pos"] self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 ddd6cc43..ae2c52b4 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 @@ -33,7 +33,7 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_config = { "obj_init_angle": 0.3, "obj_init_pos": np.array([0, 0.7, 0.025]), - "hand_init_pos": np.array((0, 0.4, 0.2), dtype=np.float32), + "hand_init_pos": np.array((0, 0.4, 0.2), dtype=np.float64), } self.goal = np.array([0, 0.8, 0.17]) self.obj_init_pos = self.init_config["obj_init_pos"] 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 ee092ab5..b48f446d 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 @@ -30,8 +30,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_config = { "obj_init_angle": 0.3, - "obj_init_pos": np.array([0.1, 0.95, 0.15], dtype=np.float32), - "hand_init_pos": np.array([-0.5, 0.6, 0.2], dtype=np.float32), + "obj_init_pos": np.array([0.1, 0.95, 0.15], dtype=np.float64), + "hand_init_pos": np.array([-0.5, 0.6, 0.2], dtype=np.float64), } self.goal = np.array([0.2, 0.8, 0.15]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -42,13 +42,13 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.door_qvel_adr = self.model.joint("doorjoint").dofadr.item() self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) @property 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 1ca8f391..caf0f8f4 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 @@ -27,8 +27,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): ) 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), + "obj_init_pos": np.array([0, 0.85, 0.15], dtype=np.float64), + "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float64), } self.goal = np.array([0, 0.85, 0.1]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -40,12 +40,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self._lock_length = 0.1 self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 9f55f995..1bc0038c 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 @@ -29,7 +29,7 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): 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), + "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float64), } self.goal = np.array([0, 0.85, 0.1]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -38,12 +38,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self._lock_length = 0.1 self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 77962d96..ad82bdce 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_v2.py @@ -43,12 +43,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.door_qvel_adr = self.model.joint("doorjoint").dofadr.item() self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 0347c311..00e146d6 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 @@ -33,10 +33,10 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): [ 0.3, ], - dtype=np.float32, + dtype=np.float64, ), - "obj_init_pos": np.array([0.0, 0.9, 0.0], dtype=np.float32), - "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float32), + "obj_init_pos": np.array([0.0, 0.9, 0.0], dtype=np.float64), + "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float64), } self.obj_init_pos = self.init_config["obj_init_pos"] self.obj_init_angle = self.init_config["obj_init_angle"] @@ -46,12 +46,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): goal_high = self.hand_high self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) self.maxDist = 0.15 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 9c63c12d..7ca54c9b 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 @@ -31,10 +31,10 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): [ 0.3, ], - dtype=np.float32, + dtype=np.float64, ), - "obj_init_pos": np.array([0.0, 0.9, 0.0], dtype=np.float32), - "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float32), + "obj_init_pos": np.array([0.0, 0.9, 0.0], dtype=np.float64), + "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float64), } self.obj_init_pos = self.init_config["obj_init_pos"] self.obj_init_angle = self.init_config["obj_init_angle"] @@ -44,12 +44,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): goal_high = self.hand_high self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) self.maxDist = 0.2 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 5047cfbc..767620ed 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 @@ -39,12 +39,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): goal_high = self.hand_high self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 5f0bb381..6d897a6b 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 @@ -39,12 +39,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): goal_high = self.hand_high self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 d2caff1b..6037ac1b 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hammer_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hammer_v2.py @@ -42,8 +42,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self._random_reset_space = Box(np.array(obj_low), np.array(obj_high)) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 947630d3..ed64ac56 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 @@ -32,9 +32,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_config = { "obj_init_pos": np.array([0, 0.6, 0.05]), "obj_init_angle": 0.3, - "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float32), + "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float64), } - self.goal = np.array([0.0, 0.84, -0.08], dtype=np.float32) + self.goal = np.array([0.0, 0.84, -0.08], dtype=np.float64) self.obj_init_pos = self.init_config["obj_init_pos"] self.obj_init_angle = self.init_config["obj_init_angle"] self.hand_init_pos = self.init_config["hand_init_pos"] @@ -44,8 +44,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 46924fb1..9ecc7f0d 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 @@ -55,12 +55,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): goal_high = self.hand_high self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 6bcd0d15..81c2fb8e 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 @@ -41,12 +41,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.hand_init_pos = self.init_config["hand_init_pos"] self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 b9235288..78d47d12 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 @@ -40,12 +40,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): goal_high = self.hand_high self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 49fcbc90..07e1c33a 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 @@ -39,12 +39,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.hand_init_pos = self.init_config["hand_init_pos"] self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 f582e821..248aaa14 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 @@ -44,7 +44,7 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): 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), + "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float64), } self.goal = np.array([0.12, 0.88, 0.05]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -55,12 +55,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): goal_high = self.hand_high self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 bda5ef56..969187e0 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 @@ -37,12 +37,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.hand_init_pos = self.init_config["hand_init_pos"] self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 157e6884..dc4a4b7e 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 @@ -44,8 +44,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 ab72e174..14cf6339 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 @@ -59,8 +59,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) self.num_resets = 0 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 e4d7381d..1e96d3db 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 @@ -60,8 +60,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) self.num_resets = 0 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 ea6108c3..667b94e3 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 @@ -46,8 +46,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_config = { "obj_init_angle": 0.3, - "obj_init_pos": np.array([-0.25, 0.6, 0.02], dtype=np.float32), - "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float32), + "obj_init_pos": np.array([-0.25, 0.6, 0.02], dtype=np.float64), + "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float64), } self.goal = np.array([0.0, 0.6, 0.015]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -59,8 +59,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 bbf6dc21..3d7d3997 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 @@ -30,8 +30,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_config = { "obj_init_angle": 0.3, - "obj_init_pos": np.array([0.0, 0.85, 0.0], dtype=np.float32), - "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float32), + "obj_init_pos": np.array([0.0, 0.85, 0.0], dtype=np.float64), + "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float64), } self.goal = np.array([0.0, 0.6, 0.015]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -43,8 +43,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 eff96b74..40ff309e 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 @@ -30,8 +30,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_config = { "obj_init_angle": 0.3, - "obj_init_pos": np.array([0.0, 0.6, 0.0], dtype=np.float32), - "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float32), + "obj_init_pos": np.array([0.0, 0.6, 0.0], dtype=np.float64), + "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float64), } self.goal = np.array([-0.25, 0.6, 0.015]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -43,8 +43,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 b1ce7c56..17452f17 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 @@ -32,8 +32,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_config = { "obj_init_angle": 0.3, - "obj_init_pos": np.array([0.0, 0.6, 0.0], dtype=np.float32), - "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float32), + "obj_init_pos": np.array([0.0, 0.6, 0.0], dtype=np.float64), + "hand_init_pos": np.array((0, 0.6, 0.2), dtype=np.float64), } self.goal = np.array([0.0, 0.85, 0.02]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -45,8 +45,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 35987105..181f1c16 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 @@ -34,7 +34,7 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_config = { "obj_init_pos": np.array([0, 0.8, 0.02]), "obj_init_angle": 0.3, - "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float32), + "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float64), } self.goal = np.array([0.0, 0.6, 0.02]) self.obj_init_pos = self.init_config["obj_init_pos"] @@ -46,8 +46,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 a7452f2e..60fc4aa9 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_v2.py @@ -66,8 +66,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) self.num_resets = 0 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 9c02a2bf..754cf7e6 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 @@ -64,8 +64,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) self.num_resets = 0 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 85e16cfc..4db738c7 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_v2.py @@ -60,8 +60,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 29a20d30..3be0e987 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 @@ -59,8 +59,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) self.num_resets = 0 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 be57e8c6..8cfc7384 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 @@ -32,9 +32,9 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_config = { "obj_init_pos": np.array([0, 0.6, 0.02]), "obj_init_angle": 0.3, - "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float32), + "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float64), } - self.goal = np.array([0.0, 0.85, 0.301], dtype=np.float32) + self.goal = np.array([0.0, 0.85, 0.301], dtype=np.float64) self.obj_init_pos = self.init_config["obj_init_pos"] self.obj_init_angle = self.init_config["obj_init_angle"] self.hand_init_pos = self.init_config["hand_init_pos"] @@ -46,8 +46,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 1a79c91b..ec8b2d47 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_soccer_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_soccer_v2.py @@ -47,8 +47,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 ebbe47e8..0f9e3807 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 @@ -41,8 +41,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.obj_init_qpos = np.array([0.0, 0.09]) self.obj_space = Box(np.array(obj_low), np.array(obj_high)) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) self._random_reset_space = Box( np.hstack((obj_low, goal_low)), 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 28a983dd..ced1bf24 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 @@ -41,8 +41,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.obj_init_qpos = np.array([0.0, 0.0]) self.obj_space = Box(np.array(obj_low), np.array(obj_high)) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) self._random_reset_space = Box( np.hstack((obj_low, goal_low)), 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 dcc0faf8..cbc42065 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 @@ -45,8 +45,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): np.hstack((obj_high, goal_high)), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 349fc7c8..a740b7f6 100644 --- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_v2.py +++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_v2.py @@ -43,12 +43,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_puck_z = init_puck_z self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) @property 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 af695b6c..f37d05d3 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 @@ -43,8 +43,8 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.init_config = { "obj_init_angle": 0.3, - "obj_init_pos": np.array([0.1, 0.785, 0.16], dtype=np.float32), - "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float32), + "obj_init_pos": np.array([0.1, 0.785, 0.16], dtype=np.float64), + "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float64), } self.obj_init_pos = self.init_config["obj_init_pos"] self.obj_init_angle = self.init_config["obj_init_angle"] @@ -56,12 +56,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): self.liftThresh = liftThresh self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) self.maxPullDist = 0.2 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 ff0c52f9..49cfa35d 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 @@ -44,10 +44,10 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): [ 0.3, ], - dtype=np.float32, + dtype=np.float64, ), - "obj_init_pos": np.array([-0.1, 0.785, 0.16], dtype=np.float32), - "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float32), + "obj_init_pos": np.array([-0.1, 0.785, 0.16], dtype=np.float64), + "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float64), } self.obj_init_pos = self.init_config["obj_init_pos"] self.obj_init_angle = self.init_config["obj_init_angle"] @@ -57,12 +57,12 @@ def __init__(self, render_mode=None, camera_name=None, camera_id=None): goal_high = self.hand_high self._random_reset_space = Box( - np.array(obj_low, dtype=np.float32), - np.array(obj_high, dtype=np.float32), + np.array(obj_low, dtype=np.float64), + np.array(obj_high, dtype=np.float64), ) self.goal_space = Box( - np.array(goal_low, dtype=np.float32), - np.array(goal_high, dtype=np.float32), + np.array(goal_low, dtype=np.float64), + np.array(goal_high, dtype=np.float64), ) self.maxPullDist = 0.2