177 lines
10 KiB
HTML
177 lines
10 KiB
HTML
|
<!DOCTYPE html>
|
||
|
|
<html class="writer-html5" lang="en" >
|
||
|
|
<head>
|
||
|
|
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
|
||
|
|
|
||
|
|
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||
|
|
<title>fancy_gym.upgrade — Fancy Gym 0.2 documentation</title>
|
||
|
|
<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
|
||
|
|
<link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
|
||
|
|
<link rel="stylesheet" href="../_static/style.css" type="text/css" />
|
||
|
|
<link rel="shortcut icon" href="../_static/icon.svg"/>
|
||
|
|
<!--[if lt IE 9]>
|
||
|
|
<script src="../_static/js/html5shiv.min.js"></script>
|
||
|
|
<![endif]-->
|
||
|
|
|
||
|
|
<script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
|
||
|
|
<script src="../_static/jquery.js"></script>
|
||
|
|
<script src="../_static/underscore.js"></script>
|
||
|
|
<script src="../_static/_sphinx_javascript_frameworks_compat.js"></script>
|
||
|
|
<script src="../_static/doctools.js"></script>
|
||
|
|
<script src="../_static/sphinx_highlight.js"></script>
|
||
|
|
<script src="../_static/js/theme.js"></script>
|
||
|
|
<link rel="index" title="Index" href="../genindex.html" />
|
||
|
|
<link rel="search" title="Search" href="../search.html" />
|
||
|
|
<link rel="prev" title="fancy_gym.register" href="fancy_gym.register.html" />
|
||
|
|
|
||
|
|
|
||
|
|
</head>
|
||
|
|
|
||
|
|
<body class="wy-body-for-nav">
|
||
|
|
<div class="wy-grid-for-nav">
|
||
|
|
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||
|
|
<div class="wy-side-scroll">
|
||
|
|
<div class="wy-side-nav-search" >
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
<a href="../index.html" class="icon icon-home">
|
||
|
|
Fancy Gym
|
||
|
|
<img src="../_static/icon.svg" class="logo" alt="Logo"/>
|
||
|
|
</a>
|
||
|
|
<div class="version">
|
||
|
|
0.2
|
||
|
|
</div>
|
||
|
|
<div role="search">
|
||
|
|
<form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
|
||
|
|
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
|
||
|
|
<input type="hidden" name="check_keywords" value="yes" />
|
||
|
|
<input type="hidden" name="area" value="default" />
|
||
|
|
</form>
|
||
|
|
</div>
|
||
|
|
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
||
|
|
<p class="caption" role="heading"><span class="caption-text">User Guide</span></p>
|
||
|
|
<ul>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../guide/installation.html">Installation</a></li>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../guide/episodic_rl.html">What is Episodic RL?</a></li>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../guide/basic_usage.html">Basic Usage</a></li>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../guide/upgrading_envs.html">Creating new MP Environments</a></li>
|
||
|
|
</ul>
|
||
|
|
<p class="caption" role="heading"><span class="caption-text">Environments</span></p>
|
||
|
|
<ul>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../envs/fancy/index.html">Fancy</a></li>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../envs/dmc.html">DeepMind Control (DMC)</a></li>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../envs/meta.html">Metaworld</a></li>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../envs/open_ai.html">Gymnasium</a></li>
|
||
|
|
</ul>
|
||
|
|
<p class="caption" role="heading"><span class="caption-text">Examples</span></p>
|
||
|
|
<ul>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../examples/general.html">General Usage Examples</a></li>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../examples/dmc.html">DeepMind Control Examples</a></li>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../examples/metaworld.html">Metaworld Examples</a></li>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../examples/open_ai.html">OpenAI Envs Examples</a></li>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../examples/movement_primitives.html">Movement Primitives Examples</a></li>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../examples/mp_params_tuning.html">MP Params Tuning Example</a></li>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../examples/pd_control_gain_tuning.html">PD Control Gain Tuning Example</a></li>
|
||
|
|
<li class="toctree-l1"><a class="reference internal" href="../examples/replanning_envs.html">Replanning Example</a></li>
|
||
|
|
</ul>
|
||
|
|
<p class="caption" role="heading"><span class="caption-text">API</span></p>
|
||
|
|
<ul class="current">
|
||
|
|
<li class="toctree-l1 current"><a class="reference internal" href="../api.html">API</a><ul class="current">
|
||
|
|
<li class="toctree-l2"><a class="reference internal" href="fancy_gym.register.html">fancy_gym.register</a></li>
|
||
|
|
<li class="toctree-l2 current"><a class="current reference internal" href="#">fancy_gym.upgrade</a><ul>
|
||
|
|
<li class="toctree-l3"><a class="reference internal" href="#fancy_gym.upgrade"><code class="docutils literal notranslate"><span class="pre">upgrade()</span></code></a></li>
|
||
|
|
</ul>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</nav>
|
||
|
|
|
||
|
|
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
|
||
|
|
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||
|
|
<a href="../index.html">Fancy Gym</a>
|
||
|
|
</nav>
|
||
|
|
|
||
|
|
<div class="wy-nav-content">
|
||
|
|
<div class="rst-content">
|
||
|
|
<div role="navigation" aria-label="Page navigation">
|
||
|
|
<ul class="wy-breadcrumbs">
|
||
|
|
<li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||
|
|
<li class="breadcrumb-item"><a href="../api.html">API</a></li>
|
||
|
|
<li class="breadcrumb-item active">fancy_gym.upgrade</li>
|
||
|
|
<li class="wy-breadcrumbs-aside">
|
||
|
|
<a href="https://github.com/ALRhub/fancy_gym/blob/release/docs/source/generated/fancy_gym.upgrade.rst" class="fa fa-github"> Edit on GitHub</a>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<hr/>
|
||
|
|
</div>
|
||
|
|
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||
|
|
<div itemprop="articleBody">
|
||
|
|
|
||
|
|
<section id="fancy-gym-upgrade">
|
||
|
|
<h1>fancy_gym.upgrade<a class="headerlink" href="#fancy-gym-upgrade" title="Permalink to this heading"></a></h1>
|
||
|
|
<dl class="py function">
|
||
|
|
<dt class="sig sig-object py" id="fancy_gym.upgrade">
|
||
|
|
<span class="sig-prename descclassname"><span class="pre">fancy_gym.</span></span><span class="sig-name descname"><span class="pre">upgrade</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="pre">id:</span> <span class="pre">str,</span> <span class="pre">mp_wrapper:</span> <span class="pre">~fancy_gym.black_box.raw_interface_wrapper.RawInterfaceWrapper</span> <span class="pre">=</span> <span class="pre"><class</span> <span class="pre">'fancy_gym.envs.registry.DefaultMPWrapper'>,</span> <span class="pre">add_mp_types:</span> <span class="pre">~typing.List[str]</span> <span class="pre">=</span> <span class="pre">['ProMP',</span> <span class="pre">'DMP',</span> <span class="pre">'ProDMP'],</span> <span class="pre">base_id:</span> <span class="pre">~typing.Optional[str]</span> <span class="pre">=</span> <span class="pre">None,</span> <span class="pre">mp_config_override:</span> <span class="pre">~typing.Dict[str,</span> <span class="pre">~typing.Any]</span> <span class="pre">=</span> <span class="pre">{}</span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/fancy_gym/envs/registry.html#upgrade"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#fancy_gym.upgrade" title="Permalink to this definition"></a></dt>
|
||
|
|
<dd><p>Upgrades an existing Gymnasium environment to include Movement Primitives (MP) versions.
|
||
|
|
We expect the raw step-based env to be already registered with gymnasium. Otherwise please use fancy_gym.register instead.</p>
|
||
|
|
<dl>
|
||
|
|
<dt>Args:</dt><dd><p>id (str): The unique identifier for the environment.
|
||
|
|
mp_wrapper (RawInterfaceWrapper): The MP wrapper for the environment (default is DefaultMPWrapper).
|
||
|
|
add_mp_types (List[str]): List of additional MP types to register (default is KNOWN_MPS).
|
||
|
|
base_id (Optional[str]): The unique identifier for the environment to upgrade. Will use id if non is provided. Can be defined to allow multiple registrations of different versions for the same step-based environment.
|
||
|
|
mp_config_override (Dict[str, Any]): Dictionary for overriding MP configuration.</p>
|
||
|
|
</dd>
|
||
|
|
<dt>Notes:</dt><dd><ul class="simple">
|
||
|
|
<li><p>The <cite>id</cite> parameter should match the ID of the existing Gymnasium environment you wish to upgrade. You can also pick a new one, but then <cite>base_id</cite> needs to be provided.</p></li>
|
||
|
|
<li><p>The <cite>mp_wrapper</cite> parameter specifies the MP wrapper to use, allowing for customization.</p></li>
|
||
|
|
<li><p><cite>add_mp_types</cite> can be used to specify additional MP types to register alongside the base environment.</p></li>
|
||
|
|
<li><p>The <cite>base_id</cite> parameter should match the ID of the existing Gymnasium environment you wish to upgrade.</p></li>
|
||
|
|
<li><p><cite>mp_config_override</cite> allows for customizing MP configuration if needed.</p></li>
|
||
|
|
</ul>
|
||
|
|
</dd>
|
||
|
|
<dt>Example:</dt><dd><p>To upgrade an existing environment with MP versions:
|
||
|
|
>>> upgrade(“MyEnv-v0”, mp_wrapper=CustomMPWrapper)</p>
|
||
|
|
<p>To upgrade an existing environment with custom MP types and configuration:
|
||
|
|
>>> upgrade(“MyEnv-v0”, mp_wrapper=CustomMPWrapper, add_mp_types=[“ProDMP”, “DMP”], mp_config_override={“param”: 42})</p>
|
||
|
|
</dd>
|
||
|
|
</dl>
|
||
|
|
</dd></dl>
|
||
|
|
|
||
|
|
</section>
|
||
|
|
|
||
|
|
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
|
||
|
|
<a href="fancy_gym.register.html" class="btn btn-neutral float-left" title="fancy_gym.register" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
|
||
|
|
</div>
|
||
|
|
|
||
|
|
<hr/>
|
||
|
|
|
||
|
|
<div role="contentinfo">
|
||
|
|
<p>© Copyright 2020-2024, Fabian Otto, Onur Celik, Dominik Roth, Hongyi Zhou.</p>
|
||
|
|
</div>
|
||
|
|
|
||
|
|
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
|
||
|
|
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
|
||
|
|
provided by <a href="https://readthedocs.org">Read the Docs</a>.
|
||
|
|
|
||
|
|
|
||
|
|
</footer>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</section>
|
||
|
|
</div>
|
||
|
|
<script>
|
||
|
|
jQuery(function () {
|
||
|
|
SphinxRtdTheme.Navigation.enable(true);
|
||
|
|
});
|
||
|
|
</script>
|
||
|
|
|
||
|
|
</body>
|
||
|
|
</html>
|