diff --git a/robosuite/environments/base.py b/robosuite/environments/base.py index c0e77b2918..cdfcb6e8f3 100644 --- a/robosuite/environments/base.py +++ b/robosuite/environments/base.py @@ -105,6 +105,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # Rendering-specific attributes self.has_renderer = has_renderer @@ -141,7 +142,7 @@ def __init__( self.seed = seed self.rng = np.random.default_rng(seed) - self._ep_meta = {} + self._ep_meta = ep_meta # Load the model self._load_model() diff --git a/robosuite/environments/manipulation/door.py b/robosuite/environments/manipulation/door.py index 5ddb61ca69..02fab94014 100644 --- a/robosuite/environments/manipulation/door.py +++ b/robosuite/environments/manipulation/door.py @@ -171,6 +171,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # settings for table top (hardcoded since it's not an essential part of the environment) self.table_full_size = (0.8, 0.3, 0.05) @@ -214,6 +215,7 @@ def __init__( renderer=renderer, renderer_config=renderer_config, seed=seed, + ep_meta=ep_meta, ) def reward(self, action=None): diff --git a/robosuite/environments/manipulation/lift.py b/robosuite/environments/manipulation/lift.py index 87c65dad82..e564717783 100644 --- a/robosuite/environments/manipulation/lift.py +++ b/robosuite/environments/manipulation/lift.py @@ -176,6 +176,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # settings for table top self.table_full_size = table_full_size @@ -219,6 +220,7 @@ def __init__( renderer=renderer, renderer_config=renderer_config, seed=seed, + ep_meta=ep_meta, ) def reward(self, action=None): diff --git a/robosuite/environments/manipulation/manipulation_env.py b/robosuite/environments/manipulation/manipulation_env.py index 4f566f0791..0d7f1bddd1 100644 --- a/robosuite/environments/manipulation/manipulation_env.py +++ b/robosuite/environments/manipulation/manipulation_env.py @@ -152,6 +152,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # Robot info robots = list(robots) if type(robots) is list or type(robots) is tuple else [robots] @@ -196,6 +197,7 @@ def __init__( renderer=renderer, renderer_config=renderer_config, seed=seed, + ep_meta=ep_meta, ) @property diff --git a/robosuite/environments/manipulation/nut_assembly.py b/robosuite/environments/manipulation/nut_assembly.py index 3322f544ab..98162df57d 100644 --- a/robosuite/environments/manipulation/nut_assembly.py +++ b/robosuite/environments/manipulation/nut_assembly.py @@ -190,6 +190,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # task settings self.single_object_mode = single_object_mode @@ -244,6 +245,7 @@ def __init__( renderer=renderer, renderer_config=renderer_config, seed=seed, + ep_meta=ep_meta, ) def reward(self, action=None): diff --git a/robosuite/environments/manipulation/pick_place.py b/robosuite/environments/manipulation/pick_place.py index 6b3e353ea5..623df8e52f 100644 --- a/robosuite/environments/manipulation/pick_place.py +++ b/robosuite/environments/manipulation/pick_place.py @@ -212,6 +212,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # task settings self.single_object_mode = single_object_mode @@ -269,6 +270,7 @@ def __init__( renderer=renderer, renderer_config=renderer_config, seed=seed, + ep_meta=ep_meta, ) def reward(self, action=None): diff --git a/robosuite/environments/manipulation/stack.py b/robosuite/environments/manipulation/stack.py index 96a7276d1d..e18af804cf 100644 --- a/robosuite/environments/manipulation/stack.py +++ b/robosuite/environments/manipulation/stack.py @@ -176,6 +176,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # settings for table top self.table_full_size = table_full_size @@ -219,6 +220,7 @@ def __init__( renderer=renderer, renderer_config=renderer_config, seed=seed, + ep_meta=ep_meta, ) def reward(self, action): diff --git a/robosuite/environments/manipulation/tool_hang.py b/robosuite/environments/manipulation/tool_hang.py index 1a603d63f5..8cc33957c8 100644 --- a/robosuite/environments/manipulation/tool_hang.py +++ b/robosuite/environments/manipulation/tool_hang.py @@ -172,6 +172,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # settings for table top self.table_full_size = table_full_size @@ -212,6 +213,7 @@ def __init__( renderer=renderer, renderer_config=renderer_config, seed=seed, + ep_meta=ep_meta, ) def reward(self, action=None): diff --git a/robosuite/environments/manipulation/two_arm_handover.py b/robosuite/environments/manipulation/two_arm_handover.py index 839d81aa1c..f8ec18d86b 100644 --- a/robosuite/environments/manipulation/two_arm_handover.py +++ b/robosuite/environments/manipulation/two_arm_handover.py @@ -176,6 +176,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # Task settings self.prehensile = prehensile @@ -225,6 +226,7 @@ def __init__( renderer=renderer, renderer_config=renderer_config, seed=seed, + ep_meta=ep_meta, ) def reward(self, action=None): diff --git a/robosuite/environments/manipulation/two_arm_lift.py b/robosuite/environments/manipulation/two_arm_lift.py index fdf64f11c6..6d5dac1c32 100644 --- a/robosuite/environments/manipulation/two_arm_lift.py +++ b/robosuite/environments/manipulation/two_arm_lift.py @@ -173,6 +173,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # settings for table top self.table_full_size = table_full_size @@ -216,6 +217,7 @@ def __init__( renderer=renderer, renderer_config=renderer_config, seed=seed, + ep_meta=ep_meta, ) def reward(self, action=None): diff --git a/robosuite/environments/manipulation/two_arm_peg_in_hole.py b/robosuite/environments/manipulation/two_arm_peg_in_hole.py index bb895f2338..7bf313796c 100644 --- a/robosuite/environments/manipulation/two_arm_peg_in_hole.py +++ b/robosuite/environments/manipulation/two_arm_peg_in_hole.py @@ -193,6 +193,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # Assert that the gripper type is None assert gripper_types is None, "Tried to specify gripper other than None in TwoArmPegInHole environment!" @@ -235,6 +236,7 @@ def __init__( renderer=renderer, renderer_config=renderer_config, seed=seed, + ep_meta=ep_meta, ) def reward(self, action=None): diff --git a/robosuite/environments/manipulation/two_arm_transport.py b/robosuite/environments/manipulation/two_arm_transport.py index e8878bcb1d..5776d40401 100644 --- a/robosuite/environments/manipulation/two_arm_transport.py +++ b/robosuite/environments/manipulation/two_arm_transport.py @@ -174,6 +174,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # settings for table top self.tables_boundary = tables_boundary @@ -221,6 +222,7 @@ def __init__( renderer=renderer, renderer_config=renderer_config, seed=seed, + ep_meta=ep_meta, ) def reward(self, action=None): diff --git a/robosuite/environments/manipulation/wipe.py b/robosuite/environments/manipulation/wipe.py index a4f87c2904..3f04fd0b78 100644 --- a/robosuite/environments/manipulation/wipe.py +++ b/robosuite/environments/manipulation/wipe.py @@ -201,6 +201,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # Assert that the gripper type is None assert ( @@ -299,6 +300,7 @@ def __init__( renderer=renderer, renderer_config=renderer_config, seed=seed, + ep_meta=ep_meta, ) # set after init to ensure self.robots is set diff --git a/robosuite/environments/robot_env.py b/robosuite/environments/robot_env.py index a52ee31dcd..2153006770 100644 --- a/robosuite/environments/robot_env.py +++ b/robosuite/environments/robot_env.py @@ -148,6 +148,7 @@ def __init__( renderer="mjviewer", renderer_config=None, seed=None, + ep_meta={}, ): # First, verify that correct number of robots are being inputted self.env_configuration = env_configuration @@ -233,6 +234,7 @@ def __init__( renderer=renderer, renderer_config=renderer_config, seed=seed, + ep_meta=ep_meta, ) def visualize(self, vis_settings):