diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml new file mode 100644 index 000000000..654b6dd58 --- /dev/null +++ b/.github/workflows/build.yml @@ -0,0 +1,22 @@ +name: build +on: [pull_request, push] + +permissions: + contents: read # to fetch code (actions/checkout) + +jobs: + build: + runs-on: ubuntu-latest + strategy: + matrix: + python-version: ['3.8', '3.9', '3.10', '3.11'] + steps: + - uses: actions/checkout@v3 + - run: | + docker build -f docker/Dockerfile \ + --build-arg PYTHON_VERSION=${{ matrix.python-version }} \ + --tag metaworld-docker . + - name: Run tests + run: docker run metaworld-docker pytest tests/* +# - name: Run doctests +# run: docker run metaworld-docker pytest --doctest-modules metaworld/ diff --git a/.github/workflows/metaworld-ci.yml b/.github/workflows/metaworld-ci.yml deleted file mode 100644 index 5eca156d0..000000000 --- a/.github/workflows/metaworld-ci.yml +++ /dev/null @@ -1,39 +0,0 @@ -# This workflow will install Python dependencies, run tests and lint with a variety of Python versions -# For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions - -name: MetaWorld CI - -on: - push: - branches: [ master ] - pull_request: - branches: [ master ] - -env: - MJKEY: ${{ secrets.MJKEY }} - -jobs: - test-docker: - - runs-on: ubuntu-latest - - steps: - - uses: actions/checkout@v2 - - name: Build the Docker image - run: | - docker pull rlworkgroup/metaworld-ci:latest - docker build \ - --cache-from rlworkgroup/metaworld-ci:latest \ - -f docker/Dockerfile \ - -t "rlworkgroup/metaworld-ci:$GITHUB_RUN_ID" \ - . - - - name: Run the Docker image - run: | - docker run \ - -t \ - --rm \ - -e "MJKEY=$MJKEY" \ - --memory 7000m \ - --memory-swap 7000m \ - --name metaworld-ci rlworkgroup/metaworld-ci:$GITHUB_RUN_ID pytest -n 0 -v -m 'not large and not skip_on_ci' diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml index 26515d79f..9060a3791 100644 --- a/.github/workflows/pre-commit.yml +++ b/.github/workflows/pre-commit.yml @@ -1,6 +1,5 @@ # https://pre-commit.com # This GitHub Action assumes that the repo contains a valid .pre-commit-config.yaml file. ---- name: pre-commit on: pull_request: @@ -8,15 +7,15 @@ on: branches: [master] permissions: - contents: read + contents: read # to fetch code (actions/checkout) jobs: pre-commit: runs-on: ubuntu-latest steps: - uses: actions/checkout@v3 - - uses: actions/setup-python@v3 - - run: pip install pre-commit - - run: pre-commit --version - - run: pre-commit install - - run: pre-commit run --all-files + - uses: actions/setup-python@v4 + - run: python -m pip install pre-commit + - run: python -m pre_commit --version + - run: python -m pre_commit install + - run: python -m pre_commit run --all-files diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 24dc7fc60..87496fce6 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,52 +1,60 @@ ---- +# See https://pre-commit.com for more information +# See https://pre-commit.com/hooks.html for more hooks repos: - - repo: https://github.com/python/black - rev: 23.3.0 + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.4.0 hooks: - - id: black + - id: check-symlinks + - id: destroyed-symlinks + - id: trailing-whitespace + - id: end-of-file-fixer + - id: check-yaml + - id: check-toml + - id: check-ast + - id: check-added-large-files + - id: check-merge-conflict + - id: check-executables-have-shebangs + - id: check-shebang-scripts-are-executable + - id: detect-private-key + - id: debug-statements - repo: https://github.com/codespell-project/codespell rev: v2.2.4 hooks: - id: codespell - args: - - --skip=*.css,*.js,*.map,*.scss,*.svg,*.ipynb - - --ignore-words-list=magent + exclude: metaworld/envs/assets_updated/sawyer_xyz/dm_control_pick_place.ipynb +# args: +# - --ignore-words-list== - repo: https://github.com/PyCQA/flake8 rev: 6.0.0 hooks: - id: flake8 args: - '--per-file-ignores=*/__init__.py:F401' - - --extend-ignore=E203,W605,F841,E731,E741,F401 # TODO: fix some of these - - --max-complexity=205 - - --max-line-length=300 + - --ignore=E203,W503,E741 + - --max-complexity=30 + - --max-line-length=456 - --show-source - --statistics - - repo: https://github.com/PyCQA/isort - rev: 5.12.0 - hooks: - - id: isort - args: ["--profile", "black"] - repo: https://github.com/asottile/pyupgrade - rev: v3.3.1 + rev: v3.3.2 hooks: - id: pyupgrade - args: ["--py37-plus"] - - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.4.0 + args: ["--py38-plus"] + - repo: https://github.com/PyCQA/isort + rev: 5.12.0 hooks: - - id: mixed-line-ending - args: ["--fix=lf"] - - repo: https://github.com/pycqa/pydocstyle - rev: 6.3.0 + - id: isort + - repo: https://github.com/python/black + rev: 23.3.0 hooks: - - id: pydocstyle - args: - - --source - - --explain - - --convention=google - - --count - # TODO: Remove ignoring rules D101, D102, D103, D105 - - --add-ignore=D100,D107,D101,D102,D103,D105 - exclude: "__init__.py$|^metaworld.tests|^docs" - additional_dependencies: ["tomli"] + - id: black +# - repo: https://github.com/pycqa/pydocstyle +# rev: 6.3.0 +# hooks: +# - id: pydocstyle +# exclude: ^ +# args: +# - --source +# - --explain +# - --convention=google +# additional_dependencies: ["tomli"] diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 1c113d79b..751148e75 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -7,12 +7,12 @@ We particularly welcome contributions of additional tasks that thematically fit ### Checklist for adding new tasks Ensure that your task and pull request: -* [ ] Can be performed by a real robot arm +* [ ] Can be performed by a real robot arm * [ ] Is dissimilar from current tasks * [ ] Contains meaningful internal variation (e.g. different object positions, etc.) * [ ] Conforms to the action space, observation space, and reward functions conventions used by metaworld environments * [ ] Uses existing assets if they exist, and that any new assets added are high-quality -* [ ] Follows the code qualtiy, style, testing, and documentation guidelines outlined below +* [ ] Follows the code quality, style, testing, and documentation guidelines outlined below * [ ] Provides learning curves which show the task can by solved by PPO and SAC, using the implementations linked below PPO: https://github.com/rlworkgroup/garage/blob/master/src/garage/tf/algos/ppo.py @@ -35,7 +35,7 @@ These criteria may be satisfied in any order, but in practice your PR is unlikel ## Preparing your repo to make contributions First, install the Metaworld locally in editable mode, with testing dependencies: -``` +``` pip install -e .[dev] ``` @@ -68,7 +68,7 @@ These are Meta-World specific rules which are not part of the aforementioned sty * Add convenience imports in `__init__.py` of a package for shallow first-level repetitive imports, but not for subpackages, even if that subpackage is defined in a single `.py` file. - For instance, if an import line reads `from + For instance, if an import line reads `from .foo.bar import Bar` then you should add `from metaworld.foo.bar import Bar` to `metaworld/foo/__init__.py` so that users may instead write `from metaworld.foo import Bar`. However, if an import line reads `from metaworld.foo.bar.stuff import Baz`, *do not* add `from metaworld.foo.bar.stuff import Baz` to `metaworld/foo/__init__.py`, because that obscures the `stuff` subpackage. *Do* diff --git a/Makefile b/Makefile deleted file mode 100644 index 70800f13e..000000000 --- a/Makefile +++ /dev/null @@ -1,69 +0,0 @@ -SHELL := /bin/bash - -.PHONY: help test ci-job build-ci build-headlessrun-ci run-headless - -.DEFAULT_GOAL := help - -test: ## Run the CI test suite locally -test: RUN_CMD = pytest -v -test: run - @echo "Running test suite..." - -check-memory: ## Profile memory usage -check-memory: RUN_CMD = scripts/profile_memory_usage.py -check-memory: run - @echo "Profiling memory usage..." - -ci-job: - pytest -n 0 --cov=metaworld -v -m 'not large and not skip_on_ci' - coverage xml - # bash <(curl -s https://codecov.io/bash) - -ci-deploy-docker: - echo "${DOCKER_API_KEY}" | docker login -u "${DOCKER_USERNAME}" \ - --password-stdin - docker tag "${TAG}" rlworkgroup/metaworld-ci:latest - docker push rlworkgroup/metaworld-ci - -build-ci: TAG ?= rlworkgroup/metaworld-ci:latest -build-ci: docker/Dockerfile - TAG=${TAG} \ - docker build \ - --cache-from rlworkgroup/metaworld-ci:latest \ - -f docker/Dockerfile \ - -t ${TAG} \ - ${ADD_ARGS} \ - . - -run-ci: TAG ?= rlworkgroup/metaworld-ci -run-ci: - docker run \ - -e TRAVIS_BRANCH \ - -e TRAVIS_PULL_REQUEST \ - -e TRAVIS_COMMIT_RANGE \ - -e TRAVIS \ - -e MJKEY \ - --memory 7500m \ - --memory-swap 7500m \ - ${ADD_ARGS} \ - ${TAG} ${RUN_CMD} - -run: ## Run the Docker container on a local machine -run: CONTAINER_NAME ?= metaworld-ci -run: build-ci - docker run \ - -it \ - --rm \ - --memory 7500m \ - --memory-swap 7500m \ - --name $(CONTAINER_NAME) \ - ${ADD_ARGS} \ - rlworkgroup/metaworld-ci $(RUN_CMD) - -# Help target -# See https://marmelab.com/blog/2016/02/29/auto-documented-makefile.html -help: ## Display this message -help: - @grep -E '^[a-zA-Z_-]+:.*?## .*$$' $(MAKEFILE_LIST) \ - | sort \ - | awk 'BEGIN {FS = ":.*?## "}; {printf "\033[36m%-30s\033[0m %s\n", $$1, $$2}' diff --git a/README.md b/README.md index a9d79f66f..def96912a 100644 --- a/README.md +++ b/README.md @@ -40,7 +40,7 @@ cd metaworld pip install -e . ``` -For users attempting to reproduce results found in the Meta-World paper please use this command: +For users attempting to reproduce results found in the Meta-World paper please use this command: ``` pip install git+https://github.com/Farama-Foundation/Metaworld.git@04be337a12305e393c0caf0cbf5ec7755c7c8feb ``` @@ -174,7 +174,7 @@ env2.reset() a1 = env1.action_space.sample() # Sample an action a2 = env2.action_space.sample() next_obs1, _, _, _ = env1.step(a1) # Step the environoment with the sampled random action -next_obs2, _, _, _ = env2.step(a2) +next_obs2, _, _, _ = env2.step(a2) assert (next_obs1[-3:] == next_obs2[-3:]).all() # 2 envs initialized with the same seed will have the same goal assert not (next_obs2[-3:] == np.zeros(3)).all() # The env's are goal observable, meaning the goal is not zero'd out @@ -184,7 +184,7 @@ env3.reset() a1 = env1.action_space.sample() # Sample an action a3 = env3.action_space.sample() next_obs1, _, _, _ = env1.step(a1) # Step the environoment with the sampled random action -next_obs3, _, _, _ = env3.step(a3) +next_obs3, _, _, _ = env3.step(a3) assert not (next_obs1[-3:] == next_obs3[-3:]).all() # 2 envs initialized with different seeds will have different goals assert not (next_obs1[-3:] == np.zeros(3)).all() # The env's are goal observable, meaning the goal is not zero'd out @@ -208,7 +208,7 @@ If you use Meta-World for academic research, please kindly cite our CoRL 2019 pa ``` ## Accompanying Baselines -If you're looking for implementations of the baselines algorithms used in the Metaworld conference publication, please look at our sister directory, [Garage](https://github.com/rlworkgroup/garage). +If you're looking for implementations of the baselines algorithms used in the Metaworld conference publication, please look at our sister directory, [Garage](https://github.com/rlworkgroup/garage). Note that these aren't the exact same baselines that were used in the original conference publication, however they are true to the original baselines. ## Become a Contributor diff --git a/docker/Dockerfile b/docker/Dockerfile index 70033068d..ab22e9185 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -1,65 +1,32 @@ -ARG PARENT_IMAGE=ubuntu:20.04 -FROM $PARENT_IMAGE - -# apt dependencies -RUN \ - apt-get -y -q update && \ - # Prevents debconf from prompting for user input - # See https://github.com/phusion/baseimage-docker/issues/58 - DEBIAN_FRONTEND=noninteractive apt-get install -y \ - # Dockerfile deps - git \ - curl \ - python3 \ - python3-venv \ - python3-dev \ - # mujoco_py - # See https://github.com/openai/mujoco-py/blob/master/Dockerfile - libglew-dev \ - libosmesa6-dev \ - patchelf \ - # OpenAI baselines - libopenmpi-dev \ - # virtualenv - libbz2-dev \ - libreadline-dev \ - libssl-dev \ - libsqlite3-dev \ - xvfb \ - pulseaudio && \ - apt-get clean && \ - rm -rf /var/lib/apt/lists/* && \ - mkdir -p -m 1777 /tmp/.X11-unix - -ARG user=metaworld-user -ARG uid=999 -RUN groupadd -g $uid $user && \ - useradd -m -r -u $uid -g $user $user && \ - chown -R $user:$user /home/$user -ENV USER $user -USER $user -ENV HOME /home/$user -WORKDIR $HOME - -RUN mkdir -p $HOME/.mujoco && \ - curl -O https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz && \ - tar xf mujoco210-linux-x86_64.tar.gz --directory $HOME/.mujoco - -ENV LD_LIBRARY_PATH $LD_LIBRARY_PATH:$HOME/.mujoco/mujoco210/bin - -RUN python3 -m venv $HOME/venv - -# Copy setup.py/config.cfg/pyproject.toml first, so that the Docker cache doesn't expire until -# dependencies change -COPY --chown=$USER:$USER setup.py $HOME/code/metaworld/setup.py -COPY --chown=$USER:$USER pyproject.toml $HOME/code/metaworld/pyproject.toml - -WORKDIR $HOME/code/metaworld - -# Install metaworld dependencies -RUN . $HOME/venv/bin/activate && exec pip install -e .[testing] - -# Add code stub last -COPY --chown=$USER:$USER . $HOME/code/metaworld - -ENTRYPOINT ["docker/entrypoint-headless.sh"] +# A Dockerfile that sets up a full Gymnasium install with test dependencies +ARG PYTHON_VERSION +FROM python:$PYTHON_VERSION + +SHELL ["/bin/bash", "-o", "pipefail", "-c"] + +RUN apt-get -y update \ + && apt-get install --no-install-recommends -y \ + libglu1-mesa-dev libgl1-mesa-dev libosmesa6-dev \ + xvfb unzip patchelf ffmpeg cmake swig \ + && apt-get autoremove -y \ + && apt-get clean \ + && rm -rf /var/lib/apt/lists/* \ + # Download mujoco + && mkdir /root/.mujoco \ + && cd /root/.mujoco \ + && wget -qO- 'https://github.com/deepmind/mujoco/releases/download/2.1.0/mujoco210-linux-x86_64.tar.gz' | tar -xzvf - + +ENV LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/root/.mujoco/mujoco210/bin" + +# Build mujoco-py from source. Pypi installs wheel packages and Cython won't recompile old file versions in the Github Actions CI. +# Thus generating the following error https://github.com/cython/cython/pull/4428 +RUN git clone https://github.com/openai/mujoco-py.git\ + && cd mujoco-py \ + && pip install -e . + +COPY . /usr/local/metaworld/ +WORKDIR /usr/local/metaworld/ + +RUN pip install .[testing] + +ENTRYPOINT ["/usr/local/metaworld/docker/entrypoint"] diff --git a/docker/entrypoint b/docker/entrypoint new file mode 100755 index 000000000..a5fe2c9f0 --- /dev/null +++ b/docker/entrypoint @@ -0,0 +1,26 @@ +#!/bin/bash +# This script is the entrypoint for our Docker image. + +set -ex + +# Set up display; otherwise rendering will fail +Xvfb -screen 0 1024x768x24 & +export DISPLAY=:0 + +# Wait for the file to come up +display=0 +file="/tmp/.X11-unix/X$display" +for i in $(seq 1 10); do + if [ -e "$file" ]; then + break + fi + + echo "Waiting for $file to be created (try $i/10)" + sleep "$i" +done +if ! [ -e "$file" ]; then + echo "Timing out: $file was not created" + exit 1 +fi + +exec "$@" diff --git a/docker/entrypoint-headless.sh b/docker/entrypoint-headless.sh deleted file mode 100755 index b2b6c15bc..000000000 --- a/docker/entrypoint-headless.sh +++ /dev/null @@ -1,28 +0,0 @@ -#!/usr/bin/env bash -# Dockerfile entrypoint -set -e - -# Setup dummy X server display -# Socket for display :0 may already be in use if the container is connected -# to the network of the host, and other low-numbered socket could also be in -# use, that's why we use 100. -display_num=100 -export DISPLAY=:"${display_num}" -Xvfb "${DISPLAY}" -screen 0 1024x768x24 & -pulseaudio -D --exit-idle-time=-1 - -# Wait for X to come up -file="/tmp/.X11-unix/X${display_num}" -for i in $(seq 1 10); do - if [ -e "$file" ]; then - break - fi - echo "Waiting for X to start (i.e. $file to be created) (attempt $i/10)" - sleep "$i" -done -if ! [ -e "$file" ]; then - echo "Timed out waiting for X to start: $file was not created" - exit 1 -fi - -. $HOME/venv/bin/activate && exec "$@" diff --git a/metaworld/envs/assets_v1/classic_mujoco/half_cheetah.xml b/metaworld/envs/assets_v1/classic_mujoco/half_cheetah.xml index 950cd7a3f..29a6b58d6 100644 --- a/metaworld/envs/assets_v1/classic_mujoco/half_cheetah.xml +++ b/metaworld/envs/assets_v1/classic_mujoco/half_cheetah.xml @@ -90,4 +90,4 @@ - \ No newline at end of file + diff --git a/metaworld/envs/assets_v1/multi_object_sawyer_xyz/sawyer_grasp.xml b/metaworld/envs/assets_v1/multi_object_sawyer_xyz/sawyer_grasp.xml old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multi_object_sawyer_xyz/sawyer_pick_and_place.xml b/metaworld/envs/assets_v1/multi_object_sawyer_xyz/sawyer_pick_and_place.xml index 5dc45b7a4..165725843 100644 --- a/metaworld/envs/assets_v1/multi_object_sawyer_xyz/sawyer_pick_and_place.xml +++ b/metaworld/envs/assets_v1/multi_object_sawyer_xyz/sawyer_pick_and_place.xml @@ -8,15 +8,15 @@ - - - + - \ No newline at end of file + diff --git a/metaworld/envs/assets_v1/multi_object_sawyer_xyz/sawyer_wsg_base.xml b/metaworld/envs/assets_v1/multi_object_sawyer_xyz/sawyer_wsg_base.xml old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/Bowl/Bowl.wrl b/metaworld/envs/assets_v1/multiobject_models/Bowl/Bowl.wrl index 6861a89bc..f805bd31a 100644 --- a/metaworld/envs/assets_v1/multiobject_models/Bowl/Bowl.wrl +++ b/metaworld/envs/assets_v1/multiobject_models/Bowl/Bowl.wrl @@ -56,7 +56,7 @@ Group { -0.201415 -0.098832 0.147173, ] } - coordIndex [ + coordIndex [ 29, 10, 31, -1, 2, 4, 5, -1, 8, 4, 9, -1, @@ -180,7 +180,7 @@ Group { -0.143962 0.123875 0.075353, ] } - coordIndex [ + coordIndex [ 24, 27, 31, -1, 3, 5, 8, -1, 2, 6, 8, -1, @@ -304,7 +304,7 @@ Group { 0.081149 -0.153896 0.139970, ] } - coordIndex [ + coordIndex [ 18, 14, 31, -1, 2, 1, 4, -1, 4, 1, 6, -1, @@ -428,7 +428,7 @@ Group { 0.114668 0.107124 0.120813, ] } - coordIndex [ + coordIndex [ 15, 26, 31, -1, 1, 2, 7, -1, 2, 3, 7, -1, @@ -541,7 +541,7 @@ Group { -0.153531 -0.046136 0.029841, ] } - coordIndex [ + coordIndex [ 14, 11, 20, -1, 2, 4, 5, -1, 5, 3, 6, -1, @@ -640,7 +640,7 @@ Group { -0.184668 -0.053321 0.060965, ] } - coordIndex [ + coordIndex [ 27, 10, 28, -1, 11, 8, 12, -1, 5, 4, 12, -1, @@ -747,7 +747,7 @@ Group { -0.055366 -0.129952 0.032226, ] } - coordIndex [ + coordIndex [ 17, 9, 20, -1, 1, 2, 5, -1, 2, 4, 7, -1, @@ -844,7 +844,7 @@ Group { -0.112418 -0.147703 0.078773, ] } - coordIndex [ + coordIndex [ 14, 19, 26, -1, 3, 5, 11, -1, 5, 3, 12, -1, @@ -954,7 +954,7 @@ Group { -0.036192 -0.175455 0.137575, ] } - coordIndex [ + coordIndex [ 17, 5, 27, -1, 4, 3, 12, -1, 2, 4, 15, -1, @@ -1058,7 +1058,7 @@ Group { -0.158317 0.023300 0.029837, ] } - coordIndex [ + coordIndex [ 10, 17, 19, -1, 1, 2, 3, -1, 3, 2, 5, -1, @@ -1158,7 +1158,7 @@ Group { -0.201309 0.052007 0.099083, ] } - coordIndex [ + coordIndex [ 25, 12, 31, -1, 8, 5, 11, -1, 4, 2, 13, -1, @@ -1282,7 +1282,7 @@ Group { -0.185570 0.103714 0.123959, ] } - coordIndex [ + coordIndex [ 28, 15, 31, -1, 6, 3, 11, -1, 4, 8, 14, -1, @@ -1399,7 +1399,7 @@ Group { -0.067332 0.126273 0.034632, ] } - coordIndex [ + coordIndex [ 9, 20, 24, -1, 2, 1, 3, -1, 3, 1, 7, -1, @@ -1504,7 +1504,7 @@ Group { -0.098451 0.174157 0.125609, ] } - coordIndex [ + coordIndex [ 23, 9, 26, -1, 2, 1, 9, -1, 4, 3, 11, -1, @@ -1609,7 +1609,7 @@ Group { 0.047617 -0.101225 0.032227, ] } - coordIndex [ + coordIndex [ 15, 20, 22, -1, 2, 1, 3, -1, 1, 4, 5, -1, @@ -1714,7 +1714,7 @@ Group { -0.011250 -0.166083 0.081116, ] } - coordIndex [ + coordIndex [ 13, 10, 30, -1, 2, 4, 11, -1, 4, 3, 11, -1, @@ -1836,7 +1836,7 @@ Group { 0.054124 -0.165772 0.133104, ] } - coordIndex [ + coordIndex [ 27, 23, 31, -1, 2, 1, 12, -1, 1, 8, 12, -1, @@ -1951,7 +1951,7 @@ Group { 0.105087 -0.046139 0.048990, ] } - coordIndex [ + coordIndex [ 21, 10, 22, -1, 1, 2, 3, -1, 5, 4, 6, -1, @@ -2049,7 +2049,7 @@ Group { 0.121859 -0.026990 0.065755, ] } - coordIndex [ + coordIndex [ 19, 18, 23, -1, 0, 1, 6, -1, 5, 0, 8, -1, @@ -2147,7 +2147,7 @@ Group { 0.090722 0.059203 0.041804, ] } - coordIndex [ + coordIndex [ 12, 20, 21, -1, 1, 2, 3, -1, 3, 0, 4, -1, @@ -2249,7 +2249,7 @@ Group { 0.142322 0.053259 0.149766, ] } - coordIndex [ + coordIndex [ 21, 9, 29, -1, 5, 2, 6, -1, 2, 5, 13, -1, @@ -2365,7 +2365,7 @@ Group { 0.088675 0.074435 0.053864, ] } - coordIndex [ + coordIndex [ 6, 19, 27, -1, 5, 6, 11, -1, 6, 3, 12, -1, @@ -2476,7 +2476,7 @@ Group { 0.033253 0.114303 0.037020, ] } - coordIndex [ + coordIndex [ 23, 20, 26, -1, 4, 1, 5, -1, 3, 5, 6, -1, @@ -2587,7 +2587,7 @@ Group { -0.033917 0.184332 0.149531, ] } - coordIndex [ + coordIndex [ 13, 23, 28, -1, 2, 6, 11, -1, 6, 10, 11, -1, @@ -2686,7 +2686,7 @@ Group { -0.052959 -0.089241 -0.001296, ] } - coordIndex [ + coordIndex [ 9, 6, 12, -1, 2, 1, 3, -1, 1, 2, 4, -1, @@ -2754,7 +2754,7 @@ Group { -0.108022 0.049640 -0.001296, ] } - coordIndex [ + coordIndex [ 9, 6, 13, -1, 1, 0, 2, -1, 0, 1, 3, -1, @@ -2822,7 +2822,7 @@ Group { -0.009845 -0.086850 -0.001296, ] } - coordIndex [ + coordIndex [ 8, 9, 11, -1, 2, 1, 3, -1, 3, 0, 4, -1, @@ -2886,7 +2886,7 @@ Group { 0.047614 0.023305 -0.001296, ] } - coordIndex [ + coordIndex [ 9, 8, 11, -1, 2, 3, 4, -1, 0, 4, 6, -1, @@ -2951,7 +2951,7 @@ Group { -0.122395 -0.038956 0.017862, ] } - coordIndex [ + coordIndex [ 2, 9, 12, -1, 4, 2, 5, -1, 3, 5, 6, -1, @@ -3024,7 +3024,7 @@ Group { -0.129582 -0.026996 0.017862, ] } - coordIndex [ + coordIndex [ 13, 16, 18, -1, 2, 1, 3, -1, 4, 3, 5, -1, @@ -3102,7 +3102,7 @@ Group { -0.072108 0.078374 -0.001296, ] } - coordIndex [ + coordIndex [ 0, 10, 11, -1, 2, 1, 3, -1, 1, 4, 5, -1, @@ -3172,7 +3172,7 @@ Group { -0.062546 0.107112 0.025050, ] } - coordIndex [ + coordIndex [ 6, 14, 17, -1, 2, 1, 3, -1, 4, 2, 5, -1, @@ -3249,7 +3249,7 @@ Group { 0.030862 -0.060508 -0.001296, ] } - coordIndex [ + coordIndex [ 5, 9, 12, -1, 1, 3, 5, -1, 5, 3, 6, -1, @@ -3323,7 +3323,7 @@ Group { 0.057196 -0.077275 0.027442, ] } - coordIndex [ + coordIndex [ 16, 14, 19, -1, 1, 2, 4, -1, 4, 5, 6, -1, @@ -3404,7 +3404,7 @@ Group { 0.009307 0.073590 -0.001296, ] } - coordIndex [ + coordIndex [ 6, 9, 12, -1, 5, 4, 6, -1, 3, 4, 7, -1, @@ -3476,7 +3476,7 @@ Group { 0.016479 0.104714 0.027442, ] } - coordIndex [ + coordIndex [ 7, 15, 17, -1, 2, 4, 5, -1, 3, 2, 5, -1, diff --git a/metaworld/envs/assets_v1/multiobject_models/ElephantBowl/ElephantBowl.wrl b/metaworld/envs/assets_v1/multiobject_models/ElephantBowl/ElephantBowl.wrl index 7d94bc89e..466f5becd 100644 --- a/metaworld/envs/assets_v1/multiobject_models/ElephantBowl/ElephantBowl.wrl +++ b/metaworld/envs/assets_v1/multiobject_models/ElephantBowl/ElephantBowl.wrl @@ -56,7 +56,7 @@ Group { -0.002927 2.012879 0.371520, ] } - coordIndex [ + coordIndex [ 12, 26, 31, -1, 4, 7, 12, -1, 4, 8, 15, -1, @@ -180,7 +180,7 @@ Group { -2.035507 -1.213666 1.095737, ] } - coordIndex [ + coordIndex [ 29, 11, 31, -1, 7, 5, 8, -1, 2, 1, 8, -1, @@ -304,7 +304,7 @@ Group { -2.523855 -0.073475 1.828594, ] } - coordIndex [ + coordIndex [ 22, 18, 31, -1, 3, 4, 6, -1, 4, 3, 7, -1, @@ -428,7 +428,7 @@ Group { 0.094182 -2.506885 2.508602, ] } - coordIndex [ + coordIndex [ 29, 17, 31, -1, 3, 7, 9, -1, 2, 1, 11, -1, @@ -552,7 +552,7 @@ Group { 0.596091 2.153314 1.192295, ] } - coordIndex [ + coordIndex [ 18, 14, 31, -1, 2, 1, 3, -1, 4, 2, 6, -1, diff --git a/metaworld/envs/assets_v1/multiobject_models/Fork/Fork.wrl b/metaworld/envs/assets_v1/multiobject_models/Fork/Fork.wrl index bde588206..4d0b6a1eb 100644 --- a/metaworld/envs/assets_v1/multiobject_models/Fork/Fork.wrl +++ b/metaworld/envs/assets_v1/multiobject_models/Fork/Fork.wrl @@ -56,7 +56,7 @@ Group { -0.010809 -0.037051 0.016407, ] } - coordIndex [ + coordIndex [ 24, 7, 31, -1, 2, 1, 3, -1, 5, 9, 10, -1, @@ -180,7 +180,7 @@ Group { -0.003163 -0.025305 0.014058, ] } - coordIndex [ + coordIndex [ 11, 20, 31, -1, 4, 6, 10, -1, 8, 4, 10, -1, @@ -304,7 +304,7 @@ Group { -0.071892 -0.043511 0.015824, ] } - coordIndex [ + coordIndex [ 18, 21, 31, -1, 4, 5, 6, -1, 4, 2, 8, -1, @@ -418,7 +418,7 @@ Group { -0.057793 -0.041745 0.008185, ] } - coordIndex [ + coordIndex [ 11, 9, 21, -1, 1, 2, 3, -1, 6, 0, 8, -1, @@ -516,7 +516,7 @@ Group { -0.052508 -0.040572 0.008185, ] } - coordIndex [ + coordIndex [ 16, 12, 25, -1, 1, 2, 5, -1, 9, 4, 10, -1, @@ -628,7 +628,7 @@ Group { -0.106543 -0.019431 0.038726, ] } - coordIndex [ + coordIndex [ 28, 12, 31, -1, 1, 3, 8, -1, 3, 6, 9, -1, @@ -747,7 +747,7 @@ Group { -0.058381 -0.031179 0.010534, ] } - coordIndex [ + coordIndex [ 18, 13, 26, -1, 1, 2, 5, -1, 2, 1, 6, -1, @@ -856,7 +856,7 @@ Group { -0.058381 -0.023542 0.010534, ] } - coordIndex [ + coordIndex [ 19, 13, 26, -1, 1, 2, 5, -1, 2, 1, 6, -1, diff --git a/metaworld/envs/assets_v1/multiobject_models/GlassBowl/GlassBowl.wrl b/metaworld/envs/assets_v1/multiobject_models/GlassBowl/GlassBowl.wrl index e42849671..6797281ce 100644 --- a/metaworld/envs/assets_v1/multiobject_models/GlassBowl/GlassBowl.wrl +++ b/metaworld/envs/assets_v1/multiobject_models/GlassBowl/GlassBowl.wrl @@ -56,7 +56,7 @@ Group { -0.018108 -0.082246 0.048969, ] } - coordIndex [ + coordIndex [ 9, 22, 31, -1, 0, 3, 4, -1, 2, 4, 5, -1, @@ -180,7 +180,7 @@ Group { -0.030293 0.082281 0.057093, ] } - coordIndex [ + coordIndex [ 15, 22, 31, -1, 3, 1, 5, -1, 4, 5, 7, -1, @@ -304,7 +304,7 @@ Group { 0.052996 -0.070058 0.051004, ] } - coordIndex [ + coordIndex [ 18, 20, 31, -1, 1, 2, 3, -1, 1, 3, 6, -1, @@ -428,7 +428,7 @@ Group { 0.057042 0.061978 0.046943, ] } - coordIndex [ + coordIndex [ 12, 28, 31, -1, 2, 1, 3, -1, 1, 2, 4, -1, @@ -551,7 +551,7 @@ Group { -0.068878 0.005096 0.032734, ] } - coordIndex [ + coordIndex [ 20, 22, 30, -1, 3, 5, 6, -1, 2, 4, 6, -1, @@ -653,7 +653,7 @@ Group { -0.026225 -0.043653 0.014448, ] } - coordIndex [ + coordIndex [ 9, 5, 11, -1, 3, 1, 4, -1, 1, 2, 5, -1, @@ -737,7 +737,7 @@ Group { -0.058734 -0.047720 0.063212, ] } - coordIndex [ + coordIndex [ 4, 11, 31, -1, 3, 7, 9, -1, 0, 8, 9, -1, @@ -858,7 +858,7 @@ Group { -0.048568 -0.088337 0.105858, ] } - coordIndex [ + coordIndex [ 27, 1, 28, -1, 1, 2, 3, -1, 1, 3, 7, -1, @@ -976,7 +976,7 @@ Group { -0.068882 0.035564 0.042878, ] } - coordIndex [ + coordIndex [ 13, 30, 31, -1, 4, 1, 6, -1, 7, 5, 9, -1, @@ -1080,7 +1080,7 @@ Group { -0.016074 0.047751 0.014448, ] } - coordIndex [ + coordIndex [ 7, 8, 11, -1, 2, 1, 3, -1, 1, 2, 4, -1, @@ -1156,7 +1156,7 @@ Group { -0.091228 0.007134 0.069292, ] } - coordIndex [ + coordIndex [ 14, 21, 23, -1, 2, 1, 4, -1, 2, 4, 6, -1, @@ -1262,7 +1262,7 @@ Group { -0.087163 0.045717 0.095698, ] } - coordIndex [ + coordIndex [ 10, 26, 29, -1, 0, 1, 2, -1, 3, 4, 5, -1, @@ -1382,7 +1382,7 @@ Group { 0.002209 0.090408 0.063197, ] } - coordIndex [ + coordIndex [ 12, 24, 31, -1, 2, 1, 3, -1, 4, 0, 6, -1, @@ -1506,7 +1506,7 @@ Group { 0.048923 -0.041628 0.020546, ] } - coordIndex [ + coordIndex [ 21, 12, 31, -1, 3, 4, 6, -1, 4, 1, 6, -1, @@ -1611,7 +1611,7 @@ Group { 0.048923 -0.033496 0.016480, ] } - coordIndex [ + coordIndex [ 11, 0, 12, -1, 2, 1, 3, -1, 3, 1, 5, -1, @@ -1691,7 +1691,7 @@ Group { 0.038770 -0.094430 0.093666, ] } - coordIndex [ + coordIndex [ 10, 20, 25, -1, 4, 6, 7, -1, 2, 1, 7, -1, @@ -1798,7 +1798,7 @@ Group { 0.050960 -0.070060 0.142416, ] } - coordIndex [ + coordIndex [ 5, 11, 26, -1, 1, 2, 5, -1, 4, 1, 6, -1, @@ -1912,7 +1912,7 @@ Group { 0.077362 -0.068019 0.091644, ] } - coordIndex [ + coordIndex [ 26, 13, 31, -1, 4, 1, 5, -1, 3, 0, 8, -1, @@ -2016,7 +2016,7 @@ Group { 0.032678 0.047755 0.016480, ] } - coordIndex [ + coordIndex [ 10, 4, 11, -1, 2, 1, 4, -1, 4, 1, 5, -1, @@ -2100,7 +2100,7 @@ Group { 0.087520 0.021350 0.055065, ] } - coordIndex [ + coordIndex [ 26, 24, 31, -1, 1, 2, 3, -1, 3, 2, 7, -1, @@ -2224,7 +2224,7 @@ Group { 0.085493 0.039630 0.063197, ] } - coordIndex [ + coordIndex [ 9, 28, 31, -1, 2, 1, 3, -1, 5, 6, 10, -1, @@ -2337,7 +2337,7 @@ Group { -0.095292 -0.009123 0.081478, ] } - coordIndex [ + coordIndex [ 19, 11, 20, -1, 2, 1, 3, -1, 1, 2, 5, -1, @@ -2430,7 +2430,7 @@ Group { -0.095290 -0.007090 0.132255, ] } - coordIndex [ + coordIndex [ 14, 19, 22, -1, 4, 1, 5, -1, 1, 3, 5, -1, @@ -2529,7 +2529,7 @@ Group { -0.050600 -0.072097 0.105845, ] } - coordIndex [ + coordIndex [ 14, 3, 24, -1, 4, 0, 5, -1, 6, 3, 7, -1, @@ -2630,7 +2630,7 @@ Group { -0.012014 -0.100529 0.105845, ] } - coordIndex [ + coordIndex [ 7, 14, 22, -1, 1, 2, 3, -1, 2, 1, 4, -1, @@ -2734,7 +2734,7 @@ Group { -0.028260 0.094472 0.097729, ] } - coordIndex [ + coordIndex [ 16, 8, 29, -1, 1, 4, 5, -1, 2, 1, 5, -1, @@ -2846,7 +2846,7 @@ Group { 0.002206 0.084321 0.142414, ] } - coordIndex [ + coordIndex [ 5, 20, 23, -1, 1, 2, 5, -1, 4, 1, 6, -1, @@ -2946,7 +2946,7 @@ Group { 0.101743 -0.017248 0.099753, ] } - coordIndex [ + coordIndex [ 19, 13, 23, -1, 1, 2, 3, -1, 2, 1, 4, -1, @@ -3045,7 +3045,7 @@ Group { 0.091584 -0.009122 0.099760, ] } - coordIndex [ + coordIndex [ 10, 4, 22, -1, 1, 2, 3, -1, 5, 1, 6, -1, @@ -3142,7 +3142,7 @@ Group { 0.012368 0.098537 0.089598, ] } - coordIndex [ + coordIndex [ 10, 18, 22, -1, 2, 1, 3, -1, 3, 5, 6, -1, @@ -3237,7 +3237,7 @@ Group { 0.042839 0.084313 0.067265, ] } - coordIndex [ + coordIndex [ 12, 18, 20, -1, 1, 2, 4, -1, 4, 2, 6, -1, @@ -3327,7 +3327,7 @@ Group { 0.030647 0.092442 0.136320, ] } - coordIndex [ + coordIndex [ 8, 18, 19, -1, 1, 2, 3, -1, 4, 0, 5, -1, @@ -3420,7 +3420,7 @@ Group { 0.036744 0.092440 0.124133, ] } - coordIndex [ + coordIndex [ 9, 19, 24, -1, 2, 1, 3, -1, 3, 4, 6, -1, @@ -3520,7 +3520,7 @@ Group { 0.099708 0.019312 0.085536, ] } - coordIndex [ + coordIndex [ 10, 20, 21, -1, 3, 1, 5, -1, 1, 2, 6, -1, @@ -3611,7 +3611,7 @@ Group { 0.101743 0.017284 0.113982, ] } - coordIndex [ + coordIndex [ 7, 14, 18, -1, 1, 2, 3, -1, 5, 1, 6, -1, diff --git a/metaworld/envs/assets_v1/multiobject_models/Knife/Knife.wrl b/metaworld/envs/assets_v1/multiobject_models/Knife/Knife.wrl index 0d3a5fb40..e142be2f0 100644 --- a/metaworld/envs/assets_v1/multiobject_models/Knife/Knife.wrl +++ b/metaworld/envs/assets_v1/multiobject_models/Knife/Knife.wrl @@ -56,7 +56,7 @@ Group { 0.418916 0.031595 0.011479, ] } - coordIndex [ + coordIndex [ 25, 19, 31, -1, 5, 4, 6, -1, 5, 6, 8, -1, diff --git a/metaworld/envs/assets_v1/multiobject_models/LotusBowl01/LotusBowl01.wrl b/metaworld/envs/assets_v1/multiobject_models/LotusBowl01/LotusBowl01.wrl index 1284ee649..2e6a68fa6 100644 --- a/metaworld/envs/assets_v1/multiobject_models/LotusBowl01/LotusBowl01.wrl +++ b/metaworld/envs/assets_v1/multiobject_models/LotusBowl01/LotusBowl01.wrl @@ -50,7 +50,7 @@ Group { 8.602833 3.110519 3.791558, ] } - coordIndex [ + coordIndex [ 16, 20, 25, -1, 2, 1, 4, -1, 4, 1, 8, -1, @@ -162,7 +162,7 @@ Group { 4.566542 8.155871 12.065991, ] } - coordIndex [ + coordIndex [ 16, 27, 31, -1, 0, 3, 4, -1, 6, 8, 9, -1, @@ -286,7 +286,7 @@ Group { 9.006577 4.724368 9.039692, ] } - coordIndex [ + coordIndex [ 19, 14, 31, -1, 1, 2, 6, -1, 1, 6, 8, -1, @@ -410,7 +410,7 @@ Group { -1.691365 -4.157024 0.158439, ] } - coordIndex [ + coordIndex [ 29, 11, 31, -1, 2, 1, 3, -1, 3, 1, 6, -1, @@ -531,7 +531,7 @@ Group { -1.489434 -4.359272 0.158439, ] } - coordIndex [ + coordIndex [ 21, 12, 28, -1, 0, 4, 7, -1, 4, 3, 7, -1, @@ -646,7 +646,7 @@ Group { -4.718415 2.100863 1.167679, ] } - coordIndex [ + coordIndex [ 7, 19, 28, -1, 2, 0, 4, -1, 2, 4, 5, -1, @@ -740,7 +740,7 @@ Group { 3.153163 -2.743586 -0.044105, ] } - coordIndex [ + coordIndex [ 5, 0, 7, -1, 1, 2, 3, -1, 2, 1, 4, -1, @@ -816,7 +816,7 @@ Group { 4.566127 -5.770893 1.570791, ] } - coordIndex [ + coordIndex [ 30, 20, 31, -1, 2, 1, 3, -1, 1, 2, 4, -1, @@ -934,7 +934,7 @@ Group { 7.594066 -6.376330 5.405189, ] } - coordIndex [ + coordIndex [ 6, 23, 25, -1, 1, 2, 3, -1, 3, 0, 5, -1, @@ -1039,7 +1039,7 @@ Group { 6.987661 2.100863 2.176110, ] } - coordIndex [ + coordIndex [ 23, 15, 24, -1, 5, 3, 6, -1, 2, 1, 6, -1, @@ -1139,7 +1139,7 @@ Group { 8.199050 -2.541734 5.405426, ] } - coordIndex [ + coordIndex [ 10, 12, 21, -1, 1, 3, 5, -1, 5, 3, 8, -1, @@ -1243,7 +1243,7 @@ Group { 5.575151 -7.588332 12.873716, ] } - coordIndex [ + coordIndex [ 29, 13, 31, -1, 7, 4, 8, -1, 7, 8, 11, -1, @@ -1347,7 +1347,7 @@ Group { 8.603168 -2.541734 6.213644, ] } - coordIndex [ + coordIndex [ 4, 9, 11, -1, 1, 4, 6, -1, 1, 2, 7, -1, @@ -1420,7 +1420,7 @@ Group { 9.007071 -1.127959 12.268397, ] } - coordIndex [ + coordIndex [ 3, 16, 20, -1, 1, 2, 5, -1, 4, 5, 6, -1, @@ -1519,7 +1519,7 @@ Group { -3.105081 2.302794 0.157826, ] } - coordIndex [ + coordIndex [ 18, 23, 28, -1, 2, 1, 5, -1, 1, 2, 6, -1, @@ -1629,7 +1629,7 @@ Group { -1.691662 4.926792 3.185686, ] } - coordIndex [ + coordIndex [ 5, 7, 23, -1, 3, 0, 5, -1, 5, 1, 7, -1, @@ -1730,7 +1730,7 @@ Group { 3.153163 3.917829 0.157905, ] } - coordIndex [ + coordIndex [ 22, 4, 24, -1, 2, 1, 3, -1, 2, 3, 5, -1, @@ -1832,7 +1832,7 @@ Group { -1.489434 7.146750 5.405426, ] } - coordIndex [ + coordIndex [ 4, 11, 23, -1, 4, 8, 10, -1, 4, 3, 11, -1, @@ -1940,7 +1940,7 @@ Group { -5.728664 5.329865 11.258504, ] } - coordIndex [ + coordIndex [ 25, 13, 31, -1, 1, 2, 3, -1, 1, 3, 8, -1, @@ -2044,7 +2044,7 @@ Group { -1.287582 8.963833 6.818667, ] } - coordIndex [ + coordIndex [ 0, 9, 11, -1, 2, 1, 3, -1, 1, 2, 4, -1, @@ -2116,7 +2116,7 @@ Group { 1.134484 8.559953 12.873934, ] } - coordIndex [ + coordIndex [ 9, 17, 19, -1, 3, 2, 4, -1, 3, 1, 6, -1, @@ -2207,7 +2207,7 @@ Group { 4.162818 2.100863 -0.043690, ] } - coordIndex [ + coordIndex [ 16, 12, 22, -1, 1, 5, 6, -1, 5, 0, 6, -1, @@ -2308,7 +2308,7 @@ Group { 3.355094 7.550533 3.791558, ] } - coordIndex [ + coordIndex [ 25, 2, 26, -1, 2, 1, 7, -1, 3, 2, 7, -1, @@ -2414,7 +2414,7 @@ Group { -6.334081 -6.780627 8.029464, ] } - coordIndex [ + coordIndex [ 22, 9, 23, -1, 2, 4, 10, -1, 4, 6, 10, -1, @@ -2520,7 +2520,7 @@ Group { -6.334081 -5.165652 12.671885, ] } - coordIndex [ + coordIndex [ 24, 7, 29, -1, 2, 7, 11, -1, 4, 10, 12, -1, @@ -2628,7 +2628,7 @@ Group { -7.746453 -1.734187 4.396996, ] } - coordIndex [ + coordIndex [ 16, 9, 19, -1, 2, 1, 3, -1, 1, 2, 7, -1, @@ -2716,7 +2716,7 @@ Group { -7.948463 -0.522640 12.874427, ] } - coordIndex [ + coordIndex [ 18, 5, 19, -1, 1, 0, 6, -1, 2, 1, 6, -1, @@ -2809,7 +2809,7 @@ Group { -4.920761 -6.981886 4.598532, ] } - coordIndex [ + coordIndex [ 19, 12, 24, -1, 5, 7, 9, -1, 10, 4, 11, -1, @@ -2919,7 +2919,7 @@ Group { -4.920761 -7.790361 11.056889, ] } - coordIndex [ + coordIndex [ 9, 27, 31, -1, 0, 1, 6, -1, 3, 0, 6, -1, @@ -3028,7 +3028,7 @@ Group { -0.681196 -8.798812 4.396641, ] } - coordIndex [ + coordIndex [ 5, 9, 16, -1, 4, 2, 6, -1, 4, 0, 7, -1, @@ -3111,7 +3111,7 @@ Group { -0.076114 -8.395641 12.268397, ] } - coordIndex [ + coordIndex [ 19, 3, 20, -1, 2, 4, 5, -1, 2, 5, 6, -1, @@ -3203,7 +3203,7 @@ Group { 5.777931 -6.376468 6.213625, ] } - coordIndex [ + coordIndex [ 16, 19, 21, -1, 3, 0, 9, -1, 5, 0, 10, -1, @@ -3304,7 +3304,7 @@ Group { 10.015856 -3.147862 9.645149, ] } - coordIndex [ + coordIndex [ 12, 14, 28, -1, 2, 1, 3, -1, 3, 1, 6, -1, @@ -3412,7 +3412,7 @@ Group { -5.324031 4.725750 6.213625, ] } - coordIndex [ + coordIndex [ 15, 18, 21, -1, 5, 0, 6, -1, 2, 1, 7, -1, @@ -3514,7 +3514,7 @@ Group { -5.122416 7.349373 10.048696, ] } - coordIndex [ + coordIndex [ 20, 25, 29, -1, 0, 1, 8, -1, 3, 4, 10, -1, diff --git a/metaworld/envs/assets_v1/multiobject_models/RuggedBowl/RuggedBowl.wrl b/metaworld/envs/assets_v1/multiobject_models/RuggedBowl/RuggedBowl.wrl index f418c06eb..8ee9cda7f 100644 --- a/metaworld/envs/assets_v1/multiobject_models/RuggedBowl/RuggedBowl.wrl +++ b/metaworld/envs/assets_v1/multiobject_models/RuggedBowl/RuggedBowl.wrl @@ -56,7 +56,7 @@ Group { 0.008694 -0.059315 0.033844, ] } - coordIndex [ + coordIndex [ 13, 29, 31, -1, 2, 1, 3, -1, 3, 0, 4, -1, @@ -180,7 +180,7 @@ Group { -0.053752 0.014474 0.024397, ] } - coordIndex [ + coordIndex [ 10, 19, 31, -1, 1, 2, 5, -1, 1, 5, 7, -1, @@ -304,7 +304,7 @@ Group { 0.033283 0.040960 0.050874, ] } - coordIndex [ + coordIndex [ 10, 5, 31, -1, 2, 1, 4, -1, 1, 3, 5, -1, @@ -428,7 +428,7 @@ Group { -0.055645 -0.025267 0.054661, ] } - coordIndex [ + coordIndex [ 18, 14, 31, -1, 2, 4, 5, -1, 4, 0, 10, -1, @@ -552,7 +552,7 @@ Group { -0.032945 -0.012018 0.001687, ] } - coordIndex [ + coordIndex [ 10, 18, 31, -1, 4, 3, 5, -1, 1, 6, 7, -1, @@ -676,7 +676,7 @@ Group { 0.006786 -0.034722 -0.000204, ] } - coordIndex [ + coordIndex [ 17, 10, 31, -1, 5, 3, 7, -1, 4, 5, 8, -1, @@ -796,7 +796,7 @@ Group { 0.008690 -0.019586 0.005475, ] } - coordIndex [ + coordIndex [ 13, 4, 27, -1, 2, 1, 3, -1, 3, 1, 5, -1, @@ -912,7 +912,7 @@ Group { 0.038964 0.006903 0.001690, ] } - coordIndex [ + coordIndex [ 16, 12, 31, -1, 2, 1, 3, -1, 3, 5, 6, -1, @@ -1036,7 +1036,7 @@ Group { 0.001116 0.029614 -0.003990, ] } - coordIndex [ + coordIndex [ 23, 14, 31, -1, 2, 1, 3, -1, 1, 2, 5, -1, @@ -1160,7 +1160,7 @@ Group { -0.014024 0.054204 0.056559, ] } - coordIndex [ + coordIndex [ 21, 25, 31, -1, 1, 2, 3, -1, 2, 1, 4, -1, @@ -1284,7 +1284,7 @@ Group { 0.008687 0.054208 0.020605, ] } - coordIndex [ + coordIndex [ 28, 16, 31, -1, 1, 2, 3, -1, 2, 1, 4, -1, @@ -1408,7 +1408,7 @@ Group { 0.031389 0.033394 0.022500, ] } - coordIndex [ + coordIndex [ 3, 14, 31, -1, 3, 1, 4, -1, 1, 2, 5, -1, @@ -1532,7 +1532,7 @@ Group { -0.019699 -0.057429 0.048989, ] } - coordIndex [ + coordIndex [ 24, 17, 31, -1, 0, 6, 8, -1, 8, 6, 9, -1, @@ -1656,7 +1656,7 @@ Group { -0.014021 -0.057425 0.052772, ] } - coordIndex [ + coordIndex [ 30, 15, 31, -1, 6, 4, 7, -1, 7, 4, 8, -1, diff --git a/metaworld/envs/assets_v1/multiobject_models/ServingBowl/ServingBowl.wrl b/metaworld/envs/assets_v1/multiobject_models/ServingBowl/ServingBowl.wrl index 30e1372f6..20b2bf271 100644 --- a/metaworld/envs/assets_v1/multiobject_models/ServingBowl/ServingBowl.wrl +++ b/metaworld/envs/assets_v1/multiobject_models/ServingBowl/ServingBowl.wrl @@ -48,7 +48,7 @@ Group { -0.624121 -1.058513 0.499383, ] } - coordIndex [ + coordIndex [ 20, 16, 23, -1, 1, 2, 3, -1, 2, 1, 4, -1, @@ -147,7 +147,7 @@ Group { -0.458497 -0.582754 0.147687, ] } - coordIndex [ + coordIndex [ 16, 10, 22, -1, 4, 0, 5, -1, 3, 1, 6, -1, @@ -249,7 +249,7 @@ Group { -0.768972 -0.086086 0.168414, ] } - coordIndex [ + coordIndex [ 19, 24, 27, -1, 2, 1, 3, -1, 1, 2, 4, -1, @@ -359,7 +359,7 @@ Group { -1.182661 0.327735 0.499411, ] } - coordIndex [ + coordIndex [ 24, 7, 25, -1, 2, 1, 3, -1, 2, 4, 5, -1, @@ -463,7 +463,7 @@ Group { -0.541329 0.514102 0.251133, ] } - coordIndex [ + coordIndex [ 3, 5, 23, -1, 2, 1, 3, -1, 3, 1, 5, -1, @@ -561,7 +561,7 @@ Group { -0.168848 0.555430 0.085608, ] } - coordIndex [ + coordIndex [ 20, 5, 21, -1, 2, 1, 8, -1, 3, 2, 8, -1, @@ -659,7 +659,7 @@ Group { -0.437782 0.596912 0.147687, ] } - coordIndex [ + coordIndex [ 11, 20, 25, -1, 1, 2, 3, -1, 2, 1, 5, -1, @@ -766,7 +766,7 @@ Group { 0.431247 -1.037780 0.520126, ] } - coordIndex [ + coordIndex [ 3, 7, 26, -1, 4, 1, 6, -1, 6, 1, 7, -1, @@ -874,7 +874,7 @@ Group { 0.721060 -0.644795 0.271866, ] } - coordIndex [ + coordIndex [ 24, 7, 25, -1, 2, 1, 4, -1, 1, 3, 5, -1, @@ -975,7 +975,7 @@ Group { -0.003155 -0.520574 0.064926, ] } - coordIndex [ + coordIndex [ 7, 10, 20, -1, 2, 1, 3, -1, 1, 2, 4, -1, @@ -1072,7 +1072,7 @@ Group { 1.093335 -0.086056 0.375208, ] } - coordIndex [ + coordIndex [ 16, 11, 26, -1, 4, 1, 7, -1, 5, 3, 7, -1, @@ -1182,7 +1182,7 @@ Group { 0.845178 -0.003264 0.209744, ] } - coordIndex [ + coordIndex [ 19, 8, 27, -1, 2, 1, 3, -1, 1, 2, 5, -1, @@ -1294,7 +1294,7 @@ Group { 0.141611 1.010646 0.313263, ] } - coordIndex [ + coordIndex [ 26, 9, 27, -1, 1, 2, 8, -1, 3, 4, 8, -1, @@ -1400,7 +1400,7 @@ Group { 1.051982 0.700301 0.561511, ] } - coordIndex [ + coordIndex [ 10, 14, 21, -1, 3, 4, 6, -1, 4, 3, 10, -1, @@ -1488,7 +1488,7 @@ Group { -0.361402 0.003580 0.029368, ] } - coordIndex [ + coordIndex [ 6, 10, 15, -1, 0, 4, 5, -1, 5, 3, 6, -1, @@ -1563,7 +1563,7 @@ Group { -0.251563 0.017375 0.064914, ] } - coordIndex [ + coordIndex [ 6, 9, 14, -1, 2, 1, 3, -1, 1, 2, 6, -1, @@ -1645,7 +1645,7 @@ Group { -1.224046 -0.520616 0.665007, ] } - coordIndex [ + coordIndex [ 14, 16, 23, -1, 4, 2, 7, -1, 2, 4, 8, -1, @@ -1749,7 +1749,7 @@ Group { -1.058600 -0.934367 0.933998, ] } - coordIndex [ + coordIndex [ 25, 8, 27, -1, 5, 4, 6, -1, 4, 5, 9, -1, @@ -1852,7 +1852,7 @@ Group { -1.224080 -0.458460 0.871896, ] } - coordIndex [ + coordIndex [ 4, 2, 18, -1, 1, 5, 7, -1, 3, 1, 8, -1, @@ -1939,7 +1939,7 @@ Group { -1.389638 -0.292927 1.306436, ] } - coordIndex [ + coordIndex [ 14, 7, 20, -1, 1, 2, 3, -1, 2, 1, 4, -1, @@ -2031,7 +2031,7 @@ Group { -0.562013 -1.265408 0.809779, ] } - coordIndex [ + coordIndex [ 19, 12, 21, -1, 4, 3, 9, -1, 3, 7, 9, -1, @@ -2123,7 +2123,7 @@ Group { -0.334273 -1.265479 0.871896, ] } - coordIndex [ + coordIndex [ 6, 13, 19, -1, 4, 6, 10, -1, 8, 1, 10, -1, @@ -2209,7 +2209,7 @@ Group { -0.499916 -1.327577 1.306436, ] } - coordIndex [ + coordIndex [ 9, 14, 17, -1, 1, 3, 6, -1, 1, 6, 9, -1, @@ -2291,7 +2291,7 @@ Group { -0.437776 -1.327577 0.871981, ] } - coordIndex [ + coordIndex [ 9, 13, 17, -1, 1, 2, 3, -1, 4, 0, 5, -1, @@ -2376,7 +2376,7 @@ Group { -1.367365 0.019769 0.870087, ] } - coordIndex [ + coordIndex [ 9, 8, 20, -1, 5, 3, 8, -1, 1, 6, 9, -1, @@ -2466,7 +2466,7 @@ Group { -1.099916 0.617540 0.540855, ] } - coordIndex [ + coordIndex [ 0, 11, 19, -1, 2, 1, 3, -1, 4, 3, 8, -1, @@ -2553,7 +2553,7 @@ Group { -1.389646 0.162332 0.892651, ] } - coordIndex [ + coordIndex [ 15, 11, 18, -1, 1, 2, 3, -1, 0, 4, 5, -1, @@ -2638,7 +2638,7 @@ Group { -1.348269 0.431318 1.058182, ] } - coordIndex [ + coordIndex [ 14, 15, 18, -1, 2, 1, 3, -1, 1, 2, 4, -1, @@ -2731,7 +2731,7 @@ Group { -0.665510 1.052078 0.520126, ] } - coordIndex [ + coordIndex [ 10, 14, 26, -1, 2, 1, 8, -1, 3, 7, 9, -1, @@ -2837,7 +2837,7 @@ Group { -0.934316 1.052080 0.913327, ] } - coordIndex [ + coordIndex [ 20, 11, 23, -1, 4, 0, 5, -1, 2, 3, 7, -1, @@ -2934,7 +2934,7 @@ Group { -0.458412 1.217586 0.851171, ] } - coordIndex [ + coordIndex [ 11, 6, 20, -1, 2, 1, 3, -1, 3, 1, 6, -1, @@ -3024,7 +3024,7 @@ Group { -0.003264 1.403818 0.933998, ] } - coordIndex [ + coordIndex [ 11, 4, 19, -1, 4, 3, 7, -1, 3, 4, 8, -1, @@ -3113,7 +3113,7 @@ Group { 0.245044 -1.368961 0.871896, ] } - coordIndex [ + coordIndex [ 7, 15, 20, -1, 0, 5, 6, -1, 9, 7, 10, -1, @@ -3203,7 +3203,7 @@ Group { 0.493304 -1.327548 1.306436, ] } - coordIndex [ + coordIndex [ 10, 7, 19, -1, 1, 2, 3, -1, 0, 4, 6, -1, @@ -3295,7 +3295,7 @@ Group { 0.989889 -0.872385 0.871896, ] } - coordIndex [ + coordIndex [ 8, 18, 23, -1, 2, 1, 3, -1, 1, 4, 8, -1, @@ -3393,7 +3393,7 @@ Group { 0.989885 -0.872344 0.934034, ] } - coordIndex [ + coordIndex [ 14, 8, 21, -1, 5, 4, 6, -1, 2, 3, 7, -1, @@ -3486,7 +3486,7 @@ Group { 1.072679 -0.789534 0.665005, ] } - coordIndex [ + coordIndex [ 18, 10, 20, -1, 5, 4, 9, -1, 3, 5, 9, -1, @@ -3576,7 +3576,7 @@ Group { 1.258951 -0.189516 0.561563, ] } - coordIndex [ + coordIndex [ 16, 0, 19, -1, 1, 3, 6, -1, 2, 1, 7, -1, @@ -3666,7 +3666,7 @@ Group { 1.331437 -0.410313 1.292540, ] } - coordIndex [ + coordIndex [ 14, 16, 21, -1, 1, 2, 5, -1, 4, 3, 7, -1, @@ -3755,7 +3755,7 @@ Group { 1.383117 -0.334267 1.078769, ] } - coordIndex [ + coordIndex [ 9, 11, 16, -1, 0, 4, 6, -1, 3, 5, 6, -1, @@ -3835,7 +3835,7 @@ Group { 0.327812 0.514021 0.189048, ] } - coordIndex [ + coordIndex [ 16, 6, 17, -1, 4, 0, 5, -1, 1, 2, 8, -1, @@ -3918,7 +3918,7 @@ Group { 0.658862 0.327773 0.147689, ] } - coordIndex [ + coordIndex [ 0, 14, 18, -1, 1, 2, 9, -1, 2, 3, 9, -1, @@ -4005,7 +4005,7 @@ Group { 1.320993 0.431253 0.830477, ] } - coordIndex [ + coordIndex [ 11, 17, 20, -1, 1, 2, 3, -1, 2, 1, 4, -1, @@ -4093,7 +4093,7 @@ Group { 1.403818 0.183030 1.016800, ] } - coordIndex [ + coordIndex [ 8, 9, 17, -1, 1, 4, 5, -1, 3, 0, 6, -1, @@ -4178,7 +4178,7 @@ Group { 1.052100 0.845091 0.706373, ] } - coordIndex [ + coordIndex [ 0, 14, 20, -1, 1, 2, 5, -1, 5, 2, 7, -1, @@ -4265,7 +4265,7 @@ Group { 1.217570 0.514078 0.934026, ] } - coordIndex [ + coordIndex [ 14, 3, 16, -1, 3, 0, 4, -1, 1, 2, 5, -1, @@ -4349,7 +4349,7 @@ Group { 0.514045 1.300303 0.933937, ] } - coordIndex [ + coordIndex [ 9, 0, 21, -1, 1, 2, 3, -1, 2, 1, 4, -1, @@ -4439,7 +4439,7 @@ Group { 0.183030 1.403818 1.016800, ] } - coordIndex [ + coordIndex [ 0, 12, 17, -1, 1, 2, 4, -1, 4, 5, 7, -1, @@ -4526,7 +4526,7 @@ Group { 0.824352 0.845123 0.582231, ] } - coordIndex [ + coordIndex [ 8, 17, 22, -1, 2, 1, 3, -1, 0, 3, 8, -1, @@ -4624,7 +4624,7 @@ Group { 1.114037 0.865844 0.934034, ] } - coordIndex [ + coordIndex [ 20, 10, 23, -1, 1, 4, 5, -1, 4, 1, 7, -1, diff --git a/metaworld/envs/assets_v1/multiobject_models/Spoon/Spoon.wrl b/metaworld/envs/assets_v1/multiobject_models/Spoon/Spoon.wrl index adb61fff2..7fa089d27 100644 --- a/metaworld/envs/assets_v1/multiobject_models/Spoon/Spoon.wrl +++ b/metaworld/envs/assets_v1/multiobject_models/Spoon/Spoon.wrl @@ -56,7 +56,7 @@ Group { 0.032402 -0.049592 0.075596, ] } - coordIndex [ + coordIndex [ 5, 18, 31, -1, 2, 1, 3, -1, 3, 7, 9, -1, @@ -180,7 +180,7 @@ Group { 0.071129 -0.052359 0.072830, ] } - coordIndex [ + coordIndex [ 10, 21, 31, -1, 0, 1, 6, -1, 0, 6, 12, -1, @@ -304,7 +304,7 @@ Group { -0.202534 0.013959 0.059009, ] } - coordIndex [ + coordIndex [ 8, 16, 31, -1, 3, 0, 4, -1, 2, 1, 6, -1, @@ -419,7 +419,7 @@ Group { -0.188707 -0.041304 0.064540, ] } - coordIndex [ + coordIndex [ 11, 7, 22, -1, 1, 2, 8, -1, 3, 5, 9, -1, @@ -525,7 +525,7 @@ Group { -0.340734 -0.077231 0.053493, ] } - coordIndex [ + coordIndex [ 29, 14, 31, -1, 2, 4, 6, -1, 4, 2, 8, -1, @@ -649,7 +649,7 @@ Group { -0.310321 -0.091051 0.072829, ] } - coordIndex [ + coordIndex [ 30, 3, 31, -1, 5, 7, 8, -1, 3, 5, 8, -1, @@ -769,7 +769,7 @@ Group { -0.257806 -0.057893 0.025844, ] } - coordIndex [ + coordIndex [ 12, 20, 27, -1, 0, 2, 5, -1, 3, 5, 7, -1, @@ -885,7 +885,7 @@ Group { -0.393257 0.036081 0.089408, ] } - coordIndex [ + coordIndex [ 8, 21, 31, -1, 2, 1, 3, -1, 3, 0, 4, -1, @@ -1009,7 +1009,7 @@ Group { -0.390485 0.027791 0.092180, ] } - coordIndex [ + coordIndex [ 24, 3, 31, -1, 2, 6, 8, -1, 4, 5, 9, -1, @@ -1133,7 +1133,7 @@ Group { -0.285462 0.055435 0.067295, ] } - coordIndex [ + coordIndex [ 15, 26, 31, -1, 4, 2, 5, -1, 2, 4, 7, -1, @@ -1257,7 +1257,7 @@ Group { -0.224647 0.002924 0.036901, ] } - coordIndex [ + coordIndex [ 23, 13, 31, -1, 3, 4, 6, -1, 4, 2, 7, -1, diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/PEDESTAL.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/PEDESTAL.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/base.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/base.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/head.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/head.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l0.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l0.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l1.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l1.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l2.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l2.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l3.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l3.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l4.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l4.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l5.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l5.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l6.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_ft/l6.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_mp1/l6.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_mp1/l6.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_mp3/l0.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_mp3/l0.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_mp3/l1.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_mp3/l1.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/base.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/base.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/head.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/head.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l0.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l0.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l1.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l1.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l2.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l2.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l3.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l3.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l4.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l4.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l5.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l5.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l6.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/l6.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/pedestal.DAE b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/meshes/sawyer/sawyer_pv/pedestal.DAE old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/sawyer_xyz/sawyer_grasp.xml b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/sawyer_xyz/sawyer_grasp.xml old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/sawyer_xyz/sawyer_wsg_base.xml b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/sawyer_xyz/sawyer_wsg_base.xml old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/sawyer_xyz/shared_config.xml b/metaworld/envs/assets_v1/multiobject_models/sawyer_assets/sawyer_xyz/shared_config.xml old mode 100755 new mode 100644 diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_assembly_peg.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_assembly_peg.xml index 1f2b0da2e..77899ee8b 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_assembly_peg.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_assembly_peg.xml @@ -33,7 +33,7 @@ - + @@ -36,4 +36,4 @@ - \ No newline at end of file + diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_bin_picking.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_bin_picking.xml index 3149f243c..e51d6021c 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_bin_picking.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_bin_picking.xml @@ -8,11 +8,11 @@ @@ -44,7 +44,7 @@ - + - - - diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_drawer.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_drawer.xml index 0a7738eb5..013e62224 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_drawer.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_drawer.xml @@ -39,7 +39,7 @@ - diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_faucet.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_faucet.xml index d30c7cbb6..12748bca5 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_faucet.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_faucet.xml @@ -6,14 +6,14 @@ @@ -21,9 +21,9 @@ - - - + @@ -19,7 +19,7 @@ - + diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_lever_pull.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_lever_pull.xml index 72277c881..9b88d4b27 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_lever_pull.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_lever_pull.xml @@ -12,7 +12,7 @@ - @@ -22,7 +22,7 @@ rgba="0 0 1 1"/> - - + - - - diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_plate_slide_sideway.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_plate_slide_sideway.xml index 1f05baf3d..97abcf263 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_plate_slide_sideway.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_plate_slide_sideway.xml @@ -25,7 +25,7 @@ - diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_push_and_reach_mocap_goal_hidden.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_push_and_reach_mocap_goal_hidden.xml index 04e3ac1fa..8bbfd7d39 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_push_and_reach_mocap_goal_hidden.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_push_and_reach_mocap_goal_hidden.xml @@ -253,7 +253,7 @@ - + diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_push_back.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_push_back.xml index 3757e7cf3..d1d6e4fe3 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_push_back.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_push_back.xml @@ -8,23 +8,23 @@ - - - + - - - - + - + diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_reach_push_pick_and_place_wall.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_reach_push_pick_and_place_wall.xml index c8828f85a..c21eea2c5 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_reach_push_pick_and_place_wall.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_reach_push_pick_and_place_wall.xml @@ -8,7 +8,7 @@ --> @@ -17,7 +17,7 @@ @@ -34,19 +34,19 @@ - - - - - + @@ -33,7 +33,7 @@ - + @@ -40,7 +40,7 @@ - + @@ -33,7 +33,7 @@ - diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_stick_obj.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_stick_obj.xml index 12ef6421a..b95b410db 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_stick_obj.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_stick_obj.xml @@ -31,7 +31,7 @@ - diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_sweep.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_sweep.xml index a197a5816..360f77a53 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_sweep.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_sweep.xml @@ -11,11 +11,11 @@ @@ -39,4 +39,4 @@ --> - \ No newline at end of file + diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_sweep_tool.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_sweep_tool.xml index 44a7a3f0a..5b34545c6 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_sweep_tool.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_sweep_tool.xml @@ -10,15 +10,15 @@ @@ -28,16 +28,16 @@ - diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_table_with_hole.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_table_with_hole.xml index dca2634b1..1493aa7e4 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_table_with_hole.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_table_with_hole.xml @@ -8,16 +8,16 @@ - - \ No newline at end of file + diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_table_with_hole_no_puck.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_table_with_hole_no_puck.xml index bee6eac04..4b693d6aa 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_table_with_hole_no_puck.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_table_with_hole_no_puck.xml @@ -4,7 +4,7 @@ - - diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_window_horizontal.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_window_horizontal.xml index e1d583144..75b9848fe 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_window_horizontal.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_window_horizontal.xml @@ -44,7 +44,7 @@ - diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_xyz_base.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_xyz_base.xml index 52562bd8d..4778a7bba 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_xyz_base.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_xyz_base.xml @@ -116,7 +116,7 @@ Usage: - + @@ -152,8 +152,8 @@ Usage: - - + + @@ -175,7 +175,7 @@ Usage: - + diff --git a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_xyz_base_no_table.xml b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_xyz_base_no_table.xml index 0ffdd878d..3076d7661 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/sawyer_xyz_base_no_table.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/sawyer_xyz_base_no_table.xml @@ -114,7 +114,7 @@ Usage: - + @@ -150,8 +150,8 @@ Usage: - - + + @@ -173,7 +173,7 @@ Usage: - + diff --git a/metaworld/envs/assets_v1/sawyer_xyz/shared_config.xml b/metaworld/envs/assets_v1/sawyer_xyz/shared_config.xml index cf2f1345b..853a6867d 100644 --- a/metaworld/envs/assets_v1/sawyer_xyz/shared_config.xml +++ b/metaworld/envs/assets_v1/sawyer_xyz/shared_config.xml @@ -86,7 +86,7 @@ Usage: cone="elliptic" /> --> -