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<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">&lt;class</span> <span class="pre">'fancy_gym.envs.registry.DefaultMPWrapper'&gt;,</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:
&gt;&gt;&gt; upgrade(“MyEnv-v0”, mp_wrapper=CustomMPWrapper)</p>
<p>To upgrade an existing environment with custom MP types and configuration:
&gt;&gt;&gt; upgrade(“MyEnv-v0”, mp_wrapper=CustomMPWrapper, add_mp_types=[“ProDMP”, “DMP”], mp_config_override={“param”: 42})</p>
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