removed tmp_dir from all envs.

robfiras · Oct 19, 2023 · 824a2d6 · 824a2d6
1 parent 06092ac
commit 824a2d6
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Showing 5 changed files with 5 additions and 12 deletions.
diff --git a/loco_mujoco/environments/humanoids/atlas.py b/loco_mujoco/environments/humanoids/atlas.py
@@ -19,7 +19,7 @@ class Atlas(BaseRobotHumanoid):
     """
 
     def __init__(self, disable_arms=True, disable_back_joint=True, hold_weight=False,
-                 weight_mass=None, tmp_dir_name=None, **kwargs):
+                 weight_mass=None, **kwargs):
         """
         Constructor.
 

diff --git a/loco_mujoco/environments/humanoids/base_humanoid.py b/loco_mujoco/environments/humanoids/base_humanoid.py
@@ -22,8 +22,7 @@ class BaseHumanoid(LocoEnv):
     valid_task_confs = ValidTaskConf(tasks=["walk", "run"],
                                      data_types=["real"])
 
-    def __init__(self, use_muscles=False, use_box_feet=True, disable_arms=True,
-                 tmp_dir_name=None, alpha_box_feet=0.5, **kwargs):
+    def __init__(self, use_muscles=False, use_box_feet=True, disable_arms=True, alpha_box_feet=0.5, **kwargs):
         """
         Constructor.
 
@@ -32,8 +31,6 @@ def __init__(self, use_muscles=False, use_box_feet=True, disable_arms=True,
             use_box_feet (bool): If True, boxes are used as feet (for simplification).
             disable_arms (bool): If True, all arm joints are removed and the respective
                 actuators are removed from the action specification.
-            tmp_dir_name (str): Specifies a name of a directory to which temporary files are
-                written, if created. By default, temporary directory names are created automatically.
             alpha_box_feet (float): Alpha parameter of the boxes, which might be added as feet.
 
         """

diff --git a/loco_mujoco/environments/humanoids/base_humanoid_4_ages.py b/loco_mujoco/environments/humanoids/base_humanoid_4_ages.py
@@ -30,7 +30,7 @@ class BaseHumanoid4Ages(BaseHumanoid):
                                      data_types=["real"])
 
     def __init__(self, scaling=None, scaling_trajectory_map=None, use_muscles=False,
-                 use_box_feet=True, disable_arms=True, tmp_dir_name=None, alpha_box_feet=0.5, **kwargs):
+                 use_box_feet=True, disable_arms=True, alpha_box_feet=0.5, **kwargs):
         """
         Constructor.
 
@@ -44,8 +44,6 @@ def __init__(self, scaling=None, scaling_trajectory_map=None, use_muscles=False,
             use_box_feet (bool): If True, boxes are used as feet (for simplification).
             disable_arms (bool): If True, all arm joints are removed and the respective
                 actuators are removed from the action specification.
-            tmp_dir_name (str): Specifies a name of a directory to which temporary files are
-                written, if created. By default, temporary directory names are created automatically.
             alpha_box_feet (float): Alpha parameter of the boxes, which might be added as feet.
 
         """

diff --git a/loco_mujoco/environments/humanoids/talos.py b/loco_mujoco/environments/humanoids/talos.py
@@ -19,7 +19,7 @@ class Talos(BaseRobotHumanoid):
     """
 
     def __init__(self, disable_arms=True, disable_back_joint=True, hold_weight=False,
-                 weight_mass=None, tmp_dir_name=None, **kwargs):
+                 weight_mass=None, **kwargs):
         """
         Constructor.
 

diff --git a/loco_mujoco/environments/quadrupeds/unitreeA1.py b/loco_mujoco/environments/quadrupeds/unitreeA1.py
@@ -26,16 +26,14 @@ class UnitreeA1(LocoEnv):
     valid_task_confs = ValidTaskConf(tasks=["simple", "hard"],
                                      data_types=["real"])
 
-    def __init__(self, action_mode="torque", setup_random_rot=False, tmp_dir_name=None,
+    def __init__(self, action_mode="torque", setup_random_rot=False,
                  default_target_velocity=0.5, camera_params=None, **kwargs):
         """
         Constructor.
 
         Args:
             action_mode (str): Either "torque", "position", or "position_difference". Defines the action controller.
             setup_random_rot (bool): If True, the robot is initialized with a random rotation.
-            tmp_dir_name (str): Specifies a name of a directory to which temporary files are
-                written, if created. By default, temporary directory names are created automatically.
             default_target_velocity (float): Default target velocity set in the goal, when no trajectory
                 data is provided.
             camera_params (dict): Dictionary defining some of the camera parameters for visualization.