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Restore split Playground pybind registrations
1 parent 0692b17 commit d57b974

16 files changed

Lines changed: 500 additions & 54 deletions

‎envpool/mujoco/BUILD‎

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@@ -503,6 +503,20 @@ pybind_extension(
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srcs = [
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"playground/mujoco_plugin_init.cc",
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"playground/playground_envpool.cc",
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"playground/py_envpool_register.h",
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"playground/register_aloha.cc",
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"playground/register_apollo.cc",
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"playground/register_barkour.cc",
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"playground/register_berkeley_humanoid.cc",
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"playground/register_g1.cc",
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"playground/register_go1.cc",
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"playground/register_h1.cc",
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"playground/register_hand.cc",
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"playground/register_op3.cc",
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"playground/register_panda.cc",
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"playground/register_panda_robotiq.cc",
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"playground/register_spot.cc",
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"playground/register_t1.cc",
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],
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deps = [
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":playground_env",

‎envpool/mujoco/playground/playground_envpool.cc‎

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@@ -13,60 +13,20 @@
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// limitations under the License.
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#include "envpool/core/py_envpool.h"
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#include "envpool/mujoco/playground/aloha.h"
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#include "envpool/mujoco/playground/apollo.h"
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#include "envpool/mujoco/playground/barkour.h"
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#include "envpool/mujoco/playground/berkeley_humanoid.h"
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#include "envpool/mujoco/playground/g1.h"
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#include "envpool/mujoco/playground/go1.h"
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#include "envpool/mujoco/playground/h1.h"
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#include "envpool/mujoco/playground/hand.h"
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#include "envpool/mujoco/playground/op3.h"
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#include "envpool/mujoco/playground/panda.h"
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#include "envpool/mujoco/playground/panda_robotiq.h"
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#include "envpool/mujoco/playground/spot.h"
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#include "envpool/mujoco/playground/t1.h"
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#define REGISTER_PLAYGROUND_ENV(MODULE, NAME) \
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using NAME##EnvSpec = PyEnvSpec<mujoco_playground::NAME##EnvSpec>; \
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using NAME##EnvPool = PyEnvPool<mujoco_playground::NAME##EnvPool>; \
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REGISTER(MODULE, NAME##EnvSpec, NAME##EnvPool)
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#include "envpool/mujoco/playground/py_envpool_register.h"
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PYBIND11_MODULE(playground_envpool, m) {
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REGISTER_PLAYGROUND_ENV(m, PlaygroundAloha)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundAlohaPixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundApollo)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundApolloPixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundBarkour)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundBarkourPixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundBerkeleyHumanoid)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundBerkeleyHumanoidPixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundG1)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundG1Pixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundGo1)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundGo1Pixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundGo1Getup)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundGo1GetupPixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundGo1Handstand)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundGo1HandstandPixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundH1)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundH1Pixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundHand)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundHandPixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundOp3)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundOp3Pixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundPanda)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundPandaPixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundPandaRobotiq)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundPandaRobotiqPixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundSpotJoystick)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundSpotJoystickPixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundSpotGetup)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundSpotGetupPixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundSpotGait)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundSpotGaitPixel)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundT1)
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REGISTER_PLAYGROUND_ENV(m, PlaygroundT1Pixel)
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RegisterPlaygroundAloha(m);
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RegisterPlaygroundApollo(m);
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RegisterPlaygroundBarkour(m);
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RegisterPlaygroundBerkeleyHumanoid(m);
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RegisterPlaygroundG1(m);
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RegisterPlaygroundGo1(m);
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RegisterPlaygroundH1(m);
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RegisterPlaygroundHand(m);
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RegisterPlaygroundOp3(m);
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RegisterPlaygroundPanda(m);
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RegisterPlaygroundPandaRobotiq(m);
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RegisterPlaygroundSpot(m);
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RegisterPlaygroundT1(m);
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}
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#undef REGISTER_PLAYGROUND_ENV

‎envpool/mujoco/playground/py_envpool_register.h‎

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// Copyright 2026 Garena Online Private Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef ENVPOOL_MUJOCO_PLAYGROUND_PY_ENVPOOL_REGISTER_H_
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#define ENVPOOL_MUJOCO_PLAYGROUND_PY_ENVPOOL_REGISTER_H_
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#include <pybind11/pybind11.h>
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void RegisterPlaygroundAloha(pybind11::module_& m);
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void RegisterPlaygroundApollo(pybind11::module_& m);
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void RegisterPlaygroundBarkour(pybind11::module_& m);
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void RegisterPlaygroundBerkeleyHumanoid(pybind11::module_& m);
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void RegisterPlaygroundG1(pybind11::module_& m);
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void RegisterPlaygroundGo1(pybind11::module_& m);
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void RegisterPlaygroundH1(pybind11::module_& m);
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void RegisterPlaygroundHand(pybind11::module_& m);
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void RegisterPlaygroundOp3(pybind11::module_& m);
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void RegisterPlaygroundPanda(pybind11::module_& m);
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void RegisterPlaygroundPandaRobotiq(pybind11::module_& m);
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void RegisterPlaygroundSpot(pybind11::module_& m);
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void RegisterPlaygroundT1(pybind11::module_& m);
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#endif // ENVPOOL_MUJOCO_PLAYGROUND_PY_ENVPOOL_REGISTER_H_

‎envpool/mujoco/playground/register_aloha.cc‎

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// Copyright 2026 Garena Online Private Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
14+
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#include "envpool/core/py_envpool.h"
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#include "envpool/mujoco/playground/aloha.h"
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#include "envpool/mujoco/playground/py_envpool_register.h"
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using PlaygroundAlohaEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundAlohaEnvSpec>;
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using PlaygroundAlohaEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundAlohaEnvPool>;
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using PlaygroundAlohaPixelEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundAlohaPixelEnvSpec>;
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using PlaygroundAlohaPixelEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundAlohaPixelEnvPool>;
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void RegisterPlaygroundAloha(pybind11::module_& m) {
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REGISTER(m, PlaygroundAlohaEnvSpec, PlaygroundAlohaEnvPool)
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REGISTER(m, PlaygroundAlohaPixelEnvSpec, PlaygroundAlohaPixelEnvPool)
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}

‎envpool/mujoco/playground/register_apollo.cc‎

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// Copyright 2026 Garena Online Private Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "envpool/core/py_envpool.h"
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#include "envpool/mujoco/playground/apollo.h"
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#include "envpool/mujoco/playground/py_envpool_register.h"
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using PlaygroundApolloEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundApolloEnvSpec>;
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using PlaygroundApolloEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundApolloEnvPool>;
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using PlaygroundApolloPixelEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundApolloPixelEnvSpec>;
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using PlaygroundApolloPixelEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundApolloPixelEnvPool>;
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void RegisterPlaygroundApollo(pybind11::module_& m) {
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REGISTER(m, PlaygroundApolloEnvSpec, PlaygroundApolloEnvPool)
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REGISTER(m, PlaygroundApolloPixelEnvSpec, PlaygroundApolloPixelEnvPool)
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}

‎envpool/mujoco/playground/register_barkour.cc‎

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// Copyright 2026 Garena Online Private Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#include "envpool/core/py_envpool.h"
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#include "envpool/mujoco/playground/barkour.h"
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#include "envpool/mujoco/playground/py_envpool_register.h"
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using PlaygroundBarkourEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundBarkourEnvSpec>;
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using PlaygroundBarkourEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundBarkourEnvPool>;
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using PlaygroundBarkourPixelEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundBarkourPixelEnvSpec>;
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using PlaygroundBarkourPixelEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundBarkourPixelEnvPool>;
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void RegisterPlaygroundBarkour(pybind11::module_& m) {
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REGISTER(m, PlaygroundBarkourEnvSpec, PlaygroundBarkourEnvPool)
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REGISTER(m, PlaygroundBarkourPixelEnvSpec, PlaygroundBarkourPixelEnvPool)
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}

‎envpool/mujoco/playground/register_berkeley_humanoid.cc‎

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// Copyright 2026 Garena Online Private Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#include "envpool/core/py_envpool.h"
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#include "envpool/mujoco/playground/berkeley_humanoid.h"
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#include "envpool/mujoco/playground/py_envpool_register.h"
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using PlaygroundBerkeleyHumanoidEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundBerkeleyHumanoidEnvSpec>;
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using PlaygroundBerkeleyHumanoidEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundBerkeleyHumanoidEnvPool>;
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using PlaygroundBerkeleyHumanoidPixelEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundBerkeleyHumanoidPixelEnvSpec>;
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using PlaygroundBerkeleyHumanoidPixelEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundBerkeleyHumanoidPixelEnvPool>;
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void RegisterPlaygroundBerkeleyHumanoid(pybind11::module_& m) {
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REGISTER(m, PlaygroundBerkeleyHumanoidEnvSpec,
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PlaygroundBerkeleyHumanoidEnvPool)
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REGISTER(m, PlaygroundBerkeleyHumanoidPixelEnvSpec,
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PlaygroundBerkeleyHumanoidPixelEnvPool)
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}

‎envpool/mujoco/playground/register_g1.cc‎

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// Copyright 2026 Garena Online Private Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
7+
// http://www.apache.org/licenses/LICENSE-2.0
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//
9+
// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#include "envpool/core/py_envpool.h"
16+
#include "envpool/mujoco/playground/g1.h"
17+
#include "envpool/mujoco/playground/py_envpool_register.h"
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19+
using PlaygroundG1EnvSpec = PyEnvSpec<mujoco_playground::PlaygroundG1EnvSpec>;
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using PlaygroundG1EnvPool = PyEnvPool<mujoco_playground::PlaygroundG1EnvPool>;
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using PlaygroundG1PixelEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundG1PixelEnvSpec>;
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using PlaygroundG1PixelEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundG1PixelEnvPool>;
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void RegisterPlaygroundG1(pybind11::module_& m) {
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REGISTER(m, PlaygroundG1EnvSpec, PlaygroundG1EnvPool)
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REGISTER(m, PlaygroundG1PixelEnvSpec, PlaygroundG1PixelEnvPool)
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}

‎envpool/mujoco/playground/register_go1.cc‎

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// Copyright 2026 Garena Online Private Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
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//
7+
// http://www.apache.org/licenses/LICENSE-2.0
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//
9+
// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#include "envpool/core/py_envpool.h"
16+
#include "envpool/mujoco/playground/go1.h"
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#include "envpool/mujoco/playground/py_envpool_register.h"
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19+
using PlaygroundGo1EnvSpec = PyEnvSpec<mujoco_playground::PlaygroundGo1EnvSpec>;
20+
using PlaygroundGo1EnvPool = PyEnvPool<mujoco_playground::PlaygroundGo1EnvPool>;
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using PlaygroundGo1PixelEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundGo1PixelEnvSpec>;
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using PlaygroundGo1PixelEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundGo1PixelEnvPool>;
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using PlaygroundGo1GetupEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundGo1GetupEnvSpec>;
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using PlaygroundGo1GetupEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundGo1GetupEnvPool>;
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using PlaygroundGo1GetupPixelEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundGo1GetupPixelEnvSpec>;
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using PlaygroundGo1GetupPixelEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundGo1GetupPixelEnvPool>;
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using PlaygroundGo1HandstandEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundGo1HandstandEnvSpec>;
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using PlaygroundGo1HandstandEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundGo1HandstandEnvPool>;
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using PlaygroundGo1HandstandPixelEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundGo1HandstandPixelEnvSpec>;
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using PlaygroundGo1HandstandPixelEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundGo1HandstandPixelEnvPool>;
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42+
void RegisterPlaygroundGo1(pybind11::module_& m) {
43+
REGISTER(m, PlaygroundGo1EnvSpec, PlaygroundGo1EnvPool)
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REGISTER(m, PlaygroundGo1PixelEnvSpec, PlaygroundGo1PixelEnvPool)
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REGISTER(m, PlaygroundGo1GetupEnvSpec, PlaygroundGo1GetupEnvPool)
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REGISTER(m, PlaygroundGo1GetupPixelEnvSpec, PlaygroundGo1GetupPixelEnvPool)
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REGISTER(m, PlaygroundGo1HandstandEnvSpec, PlaygroundGo1HandstandEnvPool)
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REGISTER(m, PlaygroundGo1HandstandPixelEnvSpec,
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PlaygroundGo1HandstandPixelEnvPool)
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}

‎envpool/mujoco/playground/register_h1.cc‎

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// Copyright 2026 Garena Online Private Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
6+
//
7+
// http://www.apache.org/licenses/LICENSE-2.0
8+
//
9+
// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#include "envpool/core/py_envpool.h"
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#include "envpool/mujoco/playground/h1.h"
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#include "envpool/mujoco/playground/py_envpool_register.h"
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using PlaygroundH1EnvSpec = PyEnvSpec<mujoco_playground::PlaygroundH1EnvSpec>;
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using PlaygroundH1EnvPool = PyEnvPool<mujoco_playground::PlaygroundH1EnvPool>;
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using PlaygroundH1PixelEnvSpec =
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PyEnvSpec<mujoco_playground::PlaygroundH1PixelEnvSpec>;
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using PlaygroundH1PixelEnvPool =
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PyEnvPool<mujoco_playground::PlaygroundH1PixelEnvPool>;
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void RegisterPlaygroundH1(pybind11::module_& m) {
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REGISTER(m, PlaygroundH1EnvSpec, PlaygroundH1EnvPool)
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REGISTER(m, PlaygroundH1PixelEnvSpec, PlaygroundH1PixelEnvPool)
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}

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