from metaworld.policies import *

P_GAINS = {
    SawyerAssemblyV1Policy: 10.0,
    SawyerAssemblyV2Policy: 10.0,
    SawyerBasketballV1Policy: 25.0,
    SawyerBasketballV2Policy: 25.0,
    SawyerBinPickingV2Policy: 25.0,
    SawyerBoxCloseV1Policy: 25.0,
    SawyerBoxCloseV2Policy: 25.0,
    SawyerButtonPressTopdownV1Policy: 25.0,
    SawyerButtonPressTopdownV2Policy: 25.0,
    SawyerButtonPressTopdownWallV1Policy: 25.0,
    SawyerButtonPressTopdownWallV2Policy: 25.0,
    SawyerButtonPressV1Policy: 4.0,
    SawyerButtonPressV2Policy: 25.0,
    SawyerButtonPressWallV1Policy: 15.0,
    SawyerButtonPressWallV2Policy: 15.0,
    SawyerCoffeeButtonV1Policy: 10.0,
    SawyerCoffeeButtonV2Policy: 10.0,
    SawyerCoffeePullV1Policy: 10.0,
    SawyerCoffeePullV2Policy: 10.0,
    SawyerCoffeePushV1Policy: 10.0,
    SawyerCoffeePushV2Policy: 10.0,
    SawyerDialTurnV1Policy: 5.0,
    SawyerDialTurnV2Policy: 10.0,
    SawyerDisassembleV1Policy: 10.0,
    SawyerDisassembleV2Policy: 10.0,
    SawyerDoorCloseV1Policy: 25.0,
    SawyerDoorCloseV2Policy: 25.0,
    SawyerDoorLockV1Policy: 25.0,
    SawyerDoorLockV2Policy: 25.0,
    SawyerDoorOpenV1Policy: 10.0,
    SawyerDoorOpenV2Policy: 25.0,
    SawyerDoorUnlockV1Policy: 25.0,
    SawyerDoorUnlockV2Policy: 25.0,
    SawyerDrawerCloseV1Policy: 10.0,
    SawyerDrawerCloseV2Policy: 25.0,
    SawyerDrawerOpenV1Policy: 4.0, # TODO (50.0) # NOTE this policy looks different from the others because it must modify its p constant part-way through the task
    SawyerDrawerOpenV2Policy: 4.0, # TODO (50.0) # NOTE this policy looks different from the others because it must modify its p constant part-way through the task
    SawyerFaucetCloseV1Policy: 25.0,
    SawyerFaucetCloseV2Policy: 25.0,
    SawyerFaucetOpenV1Policy: 25.0,
    SawyerFaucetOpenV2Policy: 25.0,
    SawyerHammerV1Policy: 10.0,
    SawyerHammerV2Policy: 10.0,
    SawyerHandInsertV1Policy: 10.0,
    SawyerHandInsertV2Policy: 10.0,
    SawyerHandlePressSideV2Policy: 25.0,
    SawyerHandlePressV1Policy: 25.0,
    SawyerHandlePressV2Policy: 25.0,
    SawyerHandlePullSideV1Policy: 25.0,
    SawyerHandlePullSideV2Policy: 25.0,
    SawyerHandlePullV1Policy: 25.0,
    SawyerHandlePullV2Policy: 25.0,
    SawyerLeverPullV2Policy: 25.0,
    SawyerPegInsertionSideV2Policy: 25.0,
    SawyerPegUnplugSideV1Policy: 25.0,
    SawyerPegUnplugSideV2Policy: 25.0,
    SawyerPickOutOfHoleV1Policy: 10.0,
    SawyerPickOutOfHoleV2Policy: 25.0,
    SawyerPickPlaceV2Policy: 10.0,
    SawyerPickPlaceWallV2Policy: 10.0,
    SawyerPlateSlideBackSideV2Policy: 10.0,
    SawyerPlateSlideBackV1Policy: 10.0,
    SawyerPlateSlideBackV2Policy: 10.0,
    SawyerPlateSlideSideV1Policy: 25.0,
    SawyerPlateSlideSideV2Policy: 25.0,
    SawyerPlateSlideV1Policy: 10.0,
    SawyerPlateSlideV2Policy: 10.0,
    SawyerPushBackV1Policy: 10.0,
    SawyerPushBackV2Policy: 10.0,
    SawyerPushV2Policy: 10.0,
    SawyerPushWallV2Policy: 10.0,
    SawyerReachV2Policy: 5.0,
    SawyerReachWallV2Policy: 5.0,
    SawyerShelfPlaceV1Policy: 25.0,
    SawyerShelfPlaceV2Policy: 25.0,
    SawyerSoccerV1Policy: 25.0,
    SawyerSoccerV2Policy: 25.0,
    SawyerStickPullV1Policy: 10.0,
    SawyerStickPullV2Policy: 25.0,
    SawyerStickPushV1Policy: 10.0,
    SawyerStickPushV2Policy: 10.0,
    SawyerSweepIntoV1Policy: 25.0,
    SawyerSweepIntoV2Policy: 25.0,
    SawyerSweepV1Policy: 25.0,
    SawyerSweepV2Policy: 25.0,
    SawyerWindowOpenV2Policy: 25.0,
    SawyerWindowCloseV2Policy: 25.0,
}