Add ep_meta parameter to all environment classes

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()

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):

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):

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

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):

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):

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):

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):

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):

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):

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):

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):

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

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):