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Fix MuJoCo Playground CI checks
1 parent 18942d4 commit b011960

18 files changed

Lines changed: 660 additions & 379 deletions

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‎.github/workflows/test.yml‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@ jobs:
1414
test-linux-x64:
1515
name: Test (linux-x64)
1616
runs-on: ubuntu-24.04
17-
timeout-minutes: 180
17+
timeout-minutes: 300
1818
env:
1919
CACHE_BRANCH: ${{ github.head_ref || github.ref_name }}
2020
DEFAULT_BRANCH: ${{ github.event.repository.default_branch }}
@@ -131,7 +131,7 @@ jobs:
131131
test-linux-arm64:
132132
name: Test (linux-arm64)
133133
runs-on: ubuntu-24.04-arm
134-
timeout-minutes: 180
134+
timeout-minutes: 300
135135
env:
136136
CACHE_BRANCH: ${{ github.head_ref || github.ref_name }}
137137
DEFAULT_BRANCH: ${{ github.event.repository.default_branch }}

‎envpool/mujoco/BUILD‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -637,6 +637,7 @@ py_test(
637637
"@mujoco_menagerie_playground//:unitree_h1_assets",
638638
],
639639
imports = ["../.."],
640+
shard_count = 4,
640641
deps = [
641642
":playground",
642643
":playground_registration",

‎envpool/mujoco/playground/CPPLINT.cfg‎

Lines changed: 0 additions & 1 deletion
This file was deleted.

‎envpool/mujoco/playground/aloha.h‎

Lines changed: 13 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -119,10 +119,10 @@ class PlaygroundAlohaEnvFns {
119119
}
120120
};
121121

122-
using PlaygroundAlohaEnvSpec = EnvSpec<PlaygroundAlohaEnvFns>;
123-
using PlaygroundAlohaPixelEnvFns =
124-
PixelObservationEnvFns<PlaygroundAlohaEnvFns>;
125-
using PlaygroundAlohaPixelEnvSpec = EnvSpec<PlaygroundAlohaPixelEnvFns>;
122+
using AlohaAliases = PlaygroundEnvAliases<PlaygroundAlohaEnvFns>;
123+
using PlaygroundAlohaEnvSpec = AlohaAliases::Spec;
124+
using PlaygroundAlohaPixelEnvFns = AlohaAliases::PixelFns;
125+
using PlaygroundAlohaPixelEnvSpec = AlohaAliases::PixelSpec;
126126

127127
template <typename EnvSpecT, bool kFromPixels>
128128
class PlaygroundAlohaEnvBase : public Env<EnvSpecT>,
@@ -798,12 +798,15 @@ class PlaygroundAlohaEnvBase : public Env<EnvSpecT>,
798798
}
799799
};
800800

801-
using PlaygroundAlohaEnv =
802-
PlaygroundAlohaEnvBase<PlaygroundAlohaEnvSpec, false>;
803-
using PlaygroundAlohaPixelEnv =
804-
PlaygroundAlohaEnvBase<PlaygroundAlohaPixelEnvSpec, true>;
805-
using PlaygroundAlohaEnvPool = AsyncEnvPool<PlaygroundAlohaEnv>;
806-
using PlaygroundAlohaPixelEnvPool = AsyncEnvPool<PlaygroundAlohaPixelEnv>;
801+
template <typename Spec, bool kFromPixels>
802+
using AlohaBase = PlaygroundAlohaEnvBase<Spec, kFromPixels>;
803+
using AlohaEnv = AlohaBase<PlaygroundAlohaEnvSpec, false>;
804+
using AlohaPixelEnv = AlohaBase<PlaygroundAlohaPixelEnvSpec, true>;
805+
using PlaygroundAlohaEnv = AlohaEnv;
806+
using PlaygroundAlohaPixelEnv = AlohaPixelEnv;
807+
using PlaygroundAlohaEnvPool = PlaygroundEnvPoolT<PlaygroundAlohaEnv>;
808+
using AlohaPixelEnvPool = PlaygroundEnvPoolT<PlaygroundAlohaPixelEnv>;
809+
using PlaygroundAlohaPixelEnvPool = AlohaPixelEnvPool;
807810

808811
} // namespace mujoco_playground
809812

‎envpool/mujoco/playground/apollo.h‎

Lines changed: 13 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -150,10 +150,10 @@ class PlaygroundApolloEnvFns {
150150
}
151151
};
152152

153-
using PlaygroundApolloEnvSpec = EnvSpec<PlaygroundApolloEnvFns>;
154-
using PlaygroundApolloPixelEnvFns =
155-
PixelObservationEnvFns<PlaygroundApolloEnvFns>;
156-
using PlaygroundApolloPixelEnvSpec = EnvSpec<PlaygroundApolloPixelEnvFns>;
153+
using ApolloAliases = PlaygroundEnvAliases<PlaygroundApolloEnvFns>;
154+
using PlaygroundApolloEnvSpec = ApolloAliases::Spec;
155+
using PlaygroundApolloPixelEnvFns = ApolloAliases::PixelFns;
156+
using PlaygroundApolloPixelEnvSpec = ApolloAliases::PixelSpec;
157157

158158
template <typename EnvSpecT, bool kFromPixels>
159159
class PlaygroundApolloEnvBase : public Env<EnvSpecT>,
@@ -729,12 +729,15 @@ class PlaygroundApolloEnvBase : public Env<EnvSpecT>,
729729
}
730730
};
731731

732-
using PlaygroundApolloEnv =
733-
PlaygroundApolloEnvBase<PlaygroundApolloEnvSpec, false>;
734-
using PlaygroundApolloPixelEnv =
735-
PlaygroundApolloEnvBase<PlaygroundApolloPixelEnvSpec, true>;
736-
using PlaygroundApolloEnvPool = AsyncEnvPool<PlaygroundApolloEnv>;
737-
using PlaygroundApolloPixelEnvPool = AsyncEnvPool<PlaygroundApolloPixelEnv>;
732+
template <typename Spec, bool kFromPixels>
733+
using ApolloBase = PlaygroundApolloEnvBase<Spec, kFromPixels>;
734+
using ApolloEnv = ApolloBase<PlaygroundApolloEnvSpec, false>;
735+
using ApolloPixelEnv = ApolloBase<PlaygroundApolloPixelEnvSpec, true>;
736+
using PlaygroundApolloEnv = ApolloEnv;
737+
using PlaygroundApolloPixelEnv = ApolloPixelEnv;
738+
using PlaygroundApolloEnvPool = PlaygroundEnvPoolT<PlaygroundApolloEnv>;
739+
using ApolloPixelEnvPool = PlaygroundEnvPoolT<PlaygroundApolloPixelEnv>;
740+
using PlaygroundApolloPixelEnvPool = ApolloPixelEnvPool;
738741

739742
} // namespace mujoco_playground
740743

‎envpool/mujoco/playground/barkour.h‎

Lines changed: 20 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -48,9 +48,12 @@ constexpr int kBarkourObsDim = 31;
4848
constexpr int kBarkourHistoryLen = 15;
4949
constexpr int kBarkourStateDim = kBarkourObsDim * kBarkourHistoryLen;
5050
constexpr int kBarkourFeet = 4;
51-
// NOLINTNEXTLINE(modernize-avoid-c-arrays)
52-
constexpr const char* kBarkourFeetGeoms[kBarkourFeet] = {
53-
"foot_front_left", "foot_hind_left", "foot_front_right", "foot_hind_right"};
51+
inline const std::array<const char*, kBarkourFeet>& BarkourFeetGeoms() {
52+
static constexpr std::array<const char*, kBarkourFeet> kNames = {
53+
"foot_front_left", "foot_hind_left", "foot_front_right",
54+
"foot_hind_right"};
55+
return kNames;
56+
}
5457

5558
class PlaygroundBarkourEnvFns {
5659
public:
@@ -125,10 +128,10 @@ class PlaygroundBarkourEnvFns {
125128
}
126129
};
127130

128-
using PlaygroundBarkourEnvSpec = EnvSpec<PlaygroundBarkourEnvFns>;
129-
using PlaygroundBarkourPixelEnvFns =
130-
PixelObservationEnvFns<PlaygroundBarkourEnvFns>;
131-
using PlaygroundBarkourPixelEnvSpec = EnvSpec<PlaygroundBarkourPixelEnvFns>;
131+
using BarkourAliases = PlaygroundEnvAliases<PlaygroundBarkourEnvFns>;
132+
using PlaygroundBarkourEnvSpec = BarkourAliases::Spec;
133+
using PlaygroundBarkourPixelEnvFns = BarkourAliases::PixelFns;
134+
using PlaygroundBarkourPixelEnvSpec = BarkourAliases::PixelSpec;
132135

133136
template <typename EnvSpecT, bool kFromPixels>
134137
class PlaygroundBarkourEnvBase : public Env<EnvSpecT>,
@@ -225,7 +228,7 @@ class PlaygroundBarkourEnvBase : public Env<EnvSpecT>,
225228
-0.7, -1.0, 0.05, -0.7, -1.0, 0.05};
226229
uppers_ = {0.52, 2.1, 2.1, 0.52, 2.1, 2.1, 0.52, 2.1, 2.1, 0.52, 2.1, 2.1};
227230
for (int i = 0; i < kBarkourFeet; ++i) {
228-
foot_geom_ids_[i] = RequireId(mjOBJ_GEOM, kBarkourFeetGeoms[i]);
231+
foot_geom_ids_[i] = RequireId(mjOBJ_GEOM, BarkourFeetGeoms()[i]);
229232
}
230233
floor_geom_id_ = RequireId(mjOBJ_GEOM, "floor");
231234
torso_body_id_ = RequireId(mjOBJ_BODY, "torso");
@@ -607,12 +610,15 @@ class PlaygroundBarkourEnvBase : public Env<EnvSpecT>,
607610
}
608611
};
609612

610-
using PlaygroundBarkourEnv =
611-
PlaygroundBarkourEnvBase<PlaygroundBarkourEnvSpec, false>;
612-
using PlaygroundBarkourPixelEnv =
613-
PlaygroundBarkourEnvBase<PlaygroundBarkourPixelEnvSpec, true>;
614-
using PlaygroundBarkourEnvPool = AsyncEnvPool<PlaygroundBarkourEnv>;
615-
using PlaygroundBarkourPixelEnvPool = AsyncEnvPool<PlaygroundBarkourPixelEnv>;
613+
template <typename Spec, bool kFromPixels>
614+
using BarkourBase = PlaygroundBarkourEnvBase<Spec, kFromPixels>;
615+
using BarkourEnv = BarkourBase<PlaygroundBarkourEnvSpec, false>;
616+
using BarkourPixelEnv = BarkourBase<PlaygroundBarkourPixelEnvSpec, true>;
617+
using PlaygroundBarkourEnv = BarkourEnv;
618+
using PlaygroundBarkourPixelEnv = BarkourPixelEnv;
619+
using PlaygroundBarkourEnvPool = PlaygroundEnvPoolT<PlaygroundBarkourEnv>;
620+
using BarkourPixelEnvPool = PlaygroundEnvPoolT<PlaygroundBarkourPixelEnv>;
621+
using PlaygroundBarkourPixelEnvPool = BarkourPixelEnvPool;
616622

617623
} // namespace mujoco_playground
618624

‎envpool/mujoco/playground/berkeley_humanoid.h‎

Lines changed: 22 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -49,9 +49,11 @@ constexpr int kBerkeleyObsDim = 52;
4949
constexpr int kBerkeleyPrivilegedStateDim = 114;
5050
// NOLINTNEXTLINE(modernize-avoid-c-arrays)
5151
constexpr const char* kBerkeleyFeetSites[kBerkeleyFeet] = {"l_foot", "r_foot"};
52-
// NOLINTNEXTLINE(modernize-avoid-c-arrays)
53-
constexpr const char* kBerkeleyFeetGeoms[kBerkeleyFeet] = {"l_foot1",
54-
"r_foot1"};
52+
inline const std::array<const char*, kBerkeleyFeet>& BerkeleyFeetGeoms() {
53+
static constexpr std::array<const char*, kBerkeleyFeet> kNames = {"l_foot1",
54+
"r_foot1"};
55+
return kNames;
56+
}
5557

5658
class PlaygroundBerkeleyHumanoidEnvFns {
5759
public:
@@ -157,12 +159,12 @@ class PlaygroundBerkeleyHumanoidEnvFns {
157159
}
158160
};
159161

160-
using PlaygroundBerkeleyHumanoidEnvSpec =
161-
EnvSpec<PlaygroundBerkeleyHumanoidEnvFns>;
162-
using PlaygroundBerkeleyHumanoidPixelEnvFns =
163-
PixelObservationEnvFns<PlaygroundBerkeleyHumanoidEnvFns>;
164-
using PlaygroundBerkeleyHumanoidPixelEnvSpec =
165-
EnvSpec<PlaygroundBerkeleyHumanoidPixelEnvFns>;
162+
using BerkeleyAliases = PlaygroundEnvAliases<PlaygroundBerkeleyHumanoidEnvFns>;
163+
using BerkeleySpec = BerkeleyAliases::Spec;
164+
using BerkeleyPixelSpec = BerkeleyAliases::PixelSpec;
165+
using PlaygroundBerkeleyHumanoidEnvSpec = BerkeleySpec;
166+
using PlaygroundBerkeleyHumanoidPixelEnvFns = BerkeleyAliases::PixelFns;
167+
using PlaygroundBerkeleyHumanoidPixelEnvSpec = BerkeleyPixelSpec;
166168

167169
template <typename EnvSpecT, bool kFromPixels>
168170
class PlaygroundBerkeleyHumanoidEnvBase : public Env<EnvSpecT>,
@@ -305,7 +307,7 @@ class PlaygroundBerkeleyHumanoidEnvBase : public Env<EnvSpecT>,
305307
for (int i = 0; i < kBerkeleyFeet; ++i) {
306308
feet_site_ids_[i] = RequireId(mjOBJ_SITE, kBerkeleyFeetSites[i]);
307309
feet_floor_sensor_ids_[i] = RequireId(
308-
mjOBJ_SENSOR, std::string(kBerkeleyFeetGeoms[i]) + "_floor_found");
310+
mjOBJ_SENSOR, std::string(BerkeleyFeetGeoms()[i]) + "_floor_found");
309311
feet_linvel_sensor_adrs_[i] =
310312
SensorAdr(std::string(kBerkeleyFeetSites[i]) + "_global_linvel");
311313
}
@@ -905,15 +907,16 @@ class PlaygroundBerkeleyHumanoidEnvBase : public Env<EnvSpecT>,
905907
std::array<mjtNum, kBerkeleyPrivilegedStateDim> privileged_obs_{};
906908
};
907909

908-
using PlaygroundBerkeleyHumanoidEnv =
909-
PlaygroundBerkeleyHumanoidEnvBase<PlaygroundBerkeleyHumanoidEnvSpec, false>;
910-
using PlaygroundBerkeleyHumanoidPixelEnv =
911-
PlaygroundBerkeleyHumanoidEnvBase<PlaygroundBerkeleyHumanoidPixelEnvSpec,
912-
true>;
913-
using PlaygroundBerkeleyHumanoidEnvPool =
914-
AsyncEnvPool<PlaygroundBerkeleyHumanoidEnv>;
915-
using PlaygroundBerkeleyHumanoidPixelEnvPool =
916-
AsyncEnvPool<PlaygroundBerkeleyHumanoidPixelEnv>;
910+
template <typename Spec, bool kFromPixels>
911+
using BerkeleyBase = PlaygroundBerkeleyHumanoidEnvBase<Spec, kFromPixels>;
912+
using BerkeleyEnv = BerkeleyBase<BerkeleySpec, false>;
913+
using BerkeleyPixelEnv = BerkeleyBase<BerkeleyPixelSpec, true>;
914+
using BerkeleyEnvPool = PlaygroundEnvPoolT<BerkeleyEnv>;
915+
using BerkeleyPixelEnvPool = PlaygroundEnvPoolT<BerkeleyPixelEnv>;
916+
using PlaygroundBerkeleyHumanoidEnv = BerkeleyEnv;
917+
using PlaygroundBerkeleyHumanoidPixelEnv = BerkeleyPixelEnv;
918+
using PlaygroundBerkeleyHumanoidEnvPool = BerkeleyEnvPool;
919+
using PlaygroundBerkeleyHumanoidPixelEnvPool = BerkeleyPixelEnvPool;
917920

918921
} // namespace mujoco_playground
919922

‎envpool/mujoco/playground/g1.h‎

Lines changed: 12 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -159,9 +159,10 @@ class PlaygroundG1EnvFns {
159159
}
160160
};
161161

162-
using PlaygroundG1EnvSpec = EnvSpec<PlaygroundG1EnvFns>;
163-
using PlaygroundG1PixelEnvFns = PixelObservationEnvFns<PlaygroundG1EnvFns>;
164-
using PlaygroundG1PixelEnvSpec = EnvSpec<PlaygroundG1PixelEnvFns>;
162+
using G1Aliases = PlaygroundEnvAliases<PlaygroundG1EnvFns>;
163+
using PlaygroundG1EnvSpec = G1Aliases::Spec;
164+
using PlaygroundG1PixelEnvFns = G1Aliases::PixelFns;
165+
using PlaygroundG1PixelEnvSpec = G1Aliases::PixelSpec;
165166

166167
template <typename EnvSpecT, bool kFromPixels>
167168
class PlaygroundG1EnvBase : public Env<EnvSpecT>, public PlaygroundMujocoEnv {
@@ -969,11 +970,14 @@ class PlaygroundG1EnvBase : public Env<EnvSpecT>, public PlaygroundMujocoEnv {
969970
std::array<mjtNum, kG1PrivilegedStateDim> privileged_obs_{};
970971
};
971972

972-
using PlaygroundG1Env = PlaygroundG1EnvBase<PlaygroundG1EnvSpec, false>;
973-
using PlaygroundG1PixelEnv =
974-
PlaygroundG1EnvBase<PlaygroundG1PixelEnvSpec, true>;
975-
using PlaygroundG1EnvPool = AsyncEnvPool<PlaygroundG1Env>;
976-
using PlaygroundG1PixelEnvPool = AsyncEnvPool<PlaygroundG1PixelEnv>;
973+
template <typename Spec, bool kFromPixels>
974+
using G1Base = PlaygroundG1EnvBase<Spec, kFromPixels>;
975+
using G1Env = G1Base<PlaygroundG1EnvSpec, false>;
976+
using G1PixelEnv = G1Base<PlaygroundG1PixelEnvSpec, true>;
977+
using PlaygroundG1Env = G1Env;
978+
using PlaygroundG1PixelEnv = G1PixelEnv;
979+
using PlaygroundG1EnvPool = PlaygroundEnvPoolT<PlaygroundG1Env>;
980+
using PlaygroundG1PixelEnvPool = PlaygroundEnvPoolT<PlaygroundG1PixelEnv>;
977981

978982
} // namespace mujoco_playground
979983

‎envpool/mujoco/playground/go1.h‎

Lines changed: 41 additions & 30 deletions
Original file line numberDiff line numberDiff line change
@@ -137,9 +137,10 @@ class PlaygroundGo1EnvFns {
137137
}
138138
};
139139

140-
using PlaygroundGo1EnvSpec = EnvSpec<PlaygroundGo1EnvFns>;
141-
using PlaygroundGo1PixelEnvFns = PixelObservationEnvFns<PlaygroundGo1EnvFns>;
142-
using PlaygroundGo1PixelEnvSpec = EnvSpec<PlaygroundGo1PixelEnvFns>;
140+
using Go1Aliases = PlaygroundEnvAliases<PlaygroundGo1EnvFns>;
141+
using PlaygroundGo1EnvSpec = Go1Aliases::Spec;
142+
using PlaygroundGo1PixelEnvFns = Go1Aliases::PixelFns;
143+
using PlaygroundGo1PixelEnvSpec = Go1Aliases::PixelSpec;
143144

144145
template <typename EnvSpecT, bool kFromPixels>
145146
class PlaygroundGo1EnvBase : public Env<EnvSpecT>, public PlaygroundMujocoEnv {
@@ -734,11 +735,14 @@ class PlaygroundGo1EnvBase : public Env<EnvSpecT>, public PlaygroundMujocoEnv {
734735
}
735736
};
736737

737-
using PlaygroundGo1Env = PlaygroundGo1EnvBase<PlaygroundGo1EnvSpec, false>;
738-
using PlaygroundGo1PixelEnv =
739-
PlaygroundGo1EnvBase<PlaygroundGo1PixelEnvSpec, true>;
740-
using PlaygroundGo1EnvPool = AsyncEnvPool<PlaygroundGo1Env>;
741-
using PlaygroundGo1PixelEnvPool = AsyncEnvPool<PlaygroundGo1PixelEnv>;
738+
template <typename Spec, bool kFromPixels>
739+
using Go1Base = PlaygroundGo1EnvBase<Spec, kFromPixels>;
740+
using Go1Env = Go1Base<PlaygroundGo1EnvSpec, false>;
741+
using Go1PixelEnv = Go1Base<PlaygroundGo1PixelEnvSpec, true>;
742+
using PlaygroundGo1Env = Go1Env;
743+
using PlaygroundGo1PixelEnv = Go1PixelEnv;
744+
using PlaygroundGo1EnvPool = PlaygroundEnvPoolT<PlaygroundGo1Env>;
745+
using PlaygroundGo1PixelEnvPool = PlaygroundEnvPoolT<PlaygroundGo1PixelEnv>;
742746

743747
class PlaygroundGo1GetupEnvFns {
744748
public:
@@ -804,10 +808,10 @@ class PlaygroundGo1GetupEnvFns {
804808
}
805809
};
806810

807-
using PlaygroundGo1GetupEnvSpec = EnvSpec<PlaygroundGo1GetupEnvFns>;
808-
using PlaygroundGo1GetupPixelEnvFns =
809-
PixelObservationEnvFns<PlaygroundGo1GetupEnvFns>;
810-
using PlaygroundGo1GetupPixelEnvSpec = EnvSpec<PlaygroundGo1GetupPixelEnvFns>;
811+
using Go1GetupAliases = PlaygroundEnvAliases<PlaygroundGo1GetupEnvFns>;
812+
using PlaygroundGo1GetupEnvSpec = Go1GetupAliases::Spec;
813+
using PlaygroundGo1GetupPixelEnvFns = Go1GetupAliases::PixelFns;
814+
using PlaygroundGo1GetupPixelEnvSpec = Go1GetupAliases::PixelSpec;
811815

812816
template <typename EnvSpecT, bool kFromPixels>
813817
class PlaygroundGo1GetupEnvBase : public Env<EnvSpecT>,
@@ -1238,12 +1242,15 @@ class PlaygroundGo1GetupEnvBase : public Env<EnvSpecT>,
12381242
}
12391243
};
12401244

1241-
using PlaygroundGo1GetupEnv =
1242-
PlaygroundGo1GetupEnvBase<PlaygroundGo1GetupEnvSpec, false>;
1243-
using PlaygroundGo1GetupPixelEnv =
1244-
PlaygroundGo1GetupEnvBase<PlaygroundGo1GetupPixelEnvSpec, true>;
1245-
using PlaygroundGo1GetupEnvPool = AsyncEnvPool<PlaygroundGo1GetupEnv>;
1246-
using PlaygroundGo1GetupPixelEnvPool = AsyncEnvPool<PlaygroundGo1GetupPixelEnv>;
1245+
template <typename Spec, bool kFromPixels>
1246+
using Go1GetupBase = PlaygroundGo1GetupEnvBase<Spec, kFromPixels>;
1247+
using Go1GetupEnv = Go1GetupBase<PlaygroundGo1GetupEnvSpec, false>;
1248+
using Go1GetupPixelEnv = Go1GetupBase<PlaygroundGo1GetupPixelEnvSpec, true>;
1249+
using PlaygroundGo1GetupEnv = Go1GetupEnv;
1250+
using PlaygroundGo1GetupPixelEnv = Go1GetupPixelEnv;
1251+
using PlaygroundGo1GetupEnvPool = PlaygroundEnvPoolT<PlaygroundGo1GetupEnv>;
1252+
using Go1GetupPixelEnvPool = PlaygroundEnvPoolT<PlaygroundGo1GetupPixelEnv>;
1253+
using PlaygroundGo1GetupPixelEnvPool = Go1GetupPixelEnvPool;
12471254

12481255
class PlaygroundGo1HandstandEnvFns {
12491256
public:
@@ -1310,11 +1317,10 @@ class PlaygroundGo1HandstandEnvFns {
13101317
}
13111318
};
13121319

1313-
using PlaygroundGo1HandstandEnvSpec = EnvSpec<PlaygroundGo1HandstandEnvFns>;
1314-
using PlaygroundGo1HandstandPixelEnvFns =
1315-
PixelObservationEnvFns<PlaygroundGo1HandstandEnvFns>;
1316-
using PlaygroundGo1HandstandPixelEnvSpec =
1317-
EnvSpec<PlaygroundGo1HandstandPixelEnvFns>;
1320+
using Go1HandstandAliases = PlaygroundEnvAliases<PlaygroundGo1HandstandEnvFns>;
1321+
using PlaygroundGo1HandstandEnvSpec = Go1HandstandAliases::Spec;
1322+
using PlaygroundGo1HandstandPixelEnvFns = Go1HandstandAliases::PixelFns;
1323+
using PlaygroundGo1HandstandPixelEnvSpec = Go1HandstandAliases::PixelSpec;
13181324

13191325
template <typename EnvSpecT, bool kFromPixels>
13201326
class PlaygroundGo1HandstandEnvBase : public Env<EnvSpecT>,
@@ -1799,13 +1805,18 @@ class PlaygroundGo1HandstandEnvBase : public Env<EnvSpecT>,
17991805
}
18001806
};
18011807

1802-
using PlaygroundGo1HandstandEnv =
1803-
PlaygroundGo1HandstandEnvBase<PlaygroundGo1HandstandEnvSpec, false>;
1804-
using PlaygroundGo1HandstandPixelEnv =
1805-
PlaygroundGo1HandstandEnvBase<PlaygroundGo1HandstandPixelEnvSpec, true>;
1806-
using PlaygroundGo1HandstandEnvPool = AsyncEnvPool<PlaygroundGo1HandstandEnv>;
1807-
using PlaygroundGo1HandstandPixelEnvPool =
1808-
AsyncEnvPool<PlaygroundGo1HandstandPixelEnv>;
1808+
template <typename Spec, bool kFromPixels>
1809+
using Go1HandstandBase = PlaygroundGo1HandstandEnvBase<Spec, kFromPixels>;
1810+
using Go1HandstandSpec = PlaygroundGo1HandstandEnvSpec;
1811+
using Go1HandstandPixelSpec = PlaygroundGo1HandstandPixelEnvSpec;
1812+
using Go1HandstandEnv = Go1HandstandBase<Go1HandstandSpec, false>;
1813+
using Go1HandstandPixelEnv = Go1HandstandBase<Go1HandstandPixelSpec, true>;
1814+
using PlaygroundGo1HandstandEnv = Go1HandstandEnv;
1815+
using PlaygroundGo1HandstandPixelEnv = Go1HandstandPixelEnv;
1816+
using Go1HandstandEnvPool = PlaygroundEnvPoolT<PlaygroundGo1HandstandEnv>;
1817+
using Go1HandstandPixelEnvPool = PlaygroundEnvPoolT<Go1HandstandPixelEnv>;
1818+
using PlaygroundGo1HandstandEnvPool = Go1HandstandEnvPool;
1819+
using PlaygroundGo1HandstandPixelEnvPool = Go1HandstandPixelEnvPool;
18091820

18101821
} // namespace mujoco_playground
18111822

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