Removing extra classes (#459)

Author: reginald-mclean

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,

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__ = [

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)

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)

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)

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)

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)