Remove some codes (#5)

Author: yuecideng

configs/gym/pour_water/action_config.json

@@ -286,7 +286,7 @@
                                         ]
                                     },
                                     {
-                                        "name": "is_qpos_exceed_new",
+                                        "name": "is_qpos_exceed",
                                         "kwargs": {
                                             "robot": "env.robot",
                                             "control_part": "right_arm"
@@ -418,7 +418,7 @@
                                         ]
                                     },
                                     {
-                                        "name": "is_qpos_exceed_new",
+                                        "name": "is_qpos_exceed",
                                         "kwargs": {
                                             "robot": "env.robot",
                                             "control_part": "right_arm"
@@ -544,7 +544,7 @@
                                         ]
                                     },
                                     {
-                                        "name": "is_qpos_exceed_new",
+                                        "name": "is_qpos_exceed",
                                         "kwargs": {
                                             "robot": "env.robot",
                                             "control_part": "right_arm"

configs/gym/pour_water/gym_config.json

@@ -255,84 +255,15 @@
                     "entity_cfg": {"uid": "cam_right_wrist"},
                     "foreground_uids": ["bottle", "cup"]
                 }
-            },
-            "exteroception": {
-                "func": "compute_exteroception",
-                "mode": "add",
-                "name": "exteroception",
-                "params": {
-                    "descriptor": {
-                        "all_sensors": [
-                            {
-                                "type": "robot",
-                                "control_part": "left_arm",
-                                "offset": [0.0, 0.0, 0.025],
-                                "follow_eef": true
-                            },
-                            {
-                                "type": "robot",
-                                "control_part": "right_arm",
-                                "offset": [0.0, 0.0, 0.025],
-                                "follow_eef": true
-                            },
-                            {
-                                "type": "affordance",
-                                "obj_uid": "bottle",
-                                "key": "bottle_grasp_pose_object_unoffset",
-                                "is_arena_coord": false,
-                                "follow_eef": "right_eef"
-                            },
-                            {
-                                "type": "affordance",
-                                "obj_uid": "bottle",
-                                "key": "pour_water_start_pose_unoffset",
-                                "is_arena_coord": true,
-                                "follow_eef": "right_eef"
-                            },
-                            {
-                                "type": "affordance",
-                                "obj_uid": "bottle",
-                                "key": "pour_water_stop_pose_unoffset",
-                                "is_arena_coord": true,
-                                "follow_eef": "right_eef"
-                            },
-                            {
-                                "type": "affordance",
-                                "obj_uid": "bottle",
-                                "key": "bottle_place_pose_unoffset",
-                                "is_arena_coord": true
-                            }
-                        ]
-                    },
-                    "x_interval": 0.02,
-                    "y_interval": 0.05,
-                    "kpnts_number": 2,
-                    "groups": 6
-                }
             }
         },
         "dataset": {
-            "instruction": {
-                "lang": "Pour water from the bottle into the mug."
-            },
             "robot_meta": {
                 "arm_dofs": 12,
                 "control_freq": 25,
                 "control_parts": ["left_arm", "left_eef", "right_arm", "right_eef"],
-                "observation": {
-                    "vision": {
-                        "cam_high": ["mask", "exteroception"], 
-                        "cam_right_wrist": ["mask", "exteroception"], 
-                        "cam_left_wrist": ["mask", "exteroception"]
-                    },
-                    "states": ["qpos"],
-                    "exteroception": ["cam_high", "cam_right_wrist", "cam_left_wrist"]
-                },
                 "min_len_steps": 5
             }
-        },
-        "success_params": {
-            "strict": false
         }
     },
     "robot": {