test.py

from multiworld.envs.mujoco.sawyer_xyz.sawyer_pick_and_place \
        import SawyerPickAndPlaceEnv, SawyerPickAndPlaceEnvYZ
import time
import numpy as np

env = SawyerPickAndPlaceEnvYZ(
    hide_arm=True,
    hide_goal_markers=True,
    action_scale=.02,
    num_objects=3,
    obj_init_pos=(0, 0.65, 0.02, 0, .58, 0.02, 0, 0.72, 0.02),
)
env.reset()
while True:

    # delta = np.array([-1, -1, 1.0])
    # for _ in range(10):
        # env.step(delta)
        # env.render()
    # delta = np.array([0.0, .2, 1.0])
    # for _ in range(3):
        # env.step(delta)
        # env.render()
    # delta = np.array([-1.0, 0.0, 1.0])
    # for _ in range(55):
        # env.step(delta)
        # env.render()
    # print(env.get_endeff_pos())
    env.set_to_goal(env.sample_goal())
    for _ in range(50):
        env.render()