renaming to fancy_gym

README.md

@@ -1,13 +1,12 @@
-## ALR Robotics Control Environments
+## Fancy Gym
 
-This project offers a large variety of reinforcement learning environments under the unifying interface of [OpenAI gym](https://gym.openai.com/).
-We provide support (under the OpenAI interface) for the benchmark suites
+Fancy gym offers a large variety of reinforcement learning environments under the unifying interface
+of [OpenAI gym](https://gym.openai.com/). We provide support (under the OpenAI interface) for the benchmark suites
 [DeepMind Control](https://deepmind.com/research/publications/2020/dm-control-Software-and-Tasks-for-Continuous-Control)
-(DMC) and [Metaworld](https://meta-world.github.io/). 
-Custom (Mujoco) gym environments can be created according
-to [this guide](https://www.gymlibrary.ml/content/environment_creation/). 
-Unlike existing libraries, we additionally support to control agents with movement primitives, such as 
-Dynamic Movement Primitives (DMPs) and Probabilistic Movement Primitives (ProMP, we only consider the mean usually).
+(DMC) and [Metaworld](https://meta-world.github.io/). Custom (Mujoco) gym environments can be created according
+to [this guide](https://www.gymlibrary.ml/content/environment_creation/). Unlike existing libraries, we additionally
+support to control agents with movement primitives, such as Dynamic Movement Primitives (DMPs) and Probabilistic
+Movement Primitives (ProMP, we only consider the mean usually).
 
 ## Movement Primitive Environments (Episode-Based/Black-Box Environments)
 
@@ -59,14 +58,14 @@ pip install -e .
 
 ## Using the framework
 
-We prepared [multiple examples](alr_envs/examples/), please have a look there for more specific examples.
+We prepared [multiple examples](fancy_gym/examples/), please have a look there for more specific examples.
 
 ### Step-wise environments
 
 ```python
-import alr_envs
+import fancy_gym
 
-env = alr_envs.make('HoleReacher-v0', seed=1)
+env = fancy_gym.make('HoleReacher-v0', seed=1)
 state = env.reset()
 
 for i in range(1000):
@@ -85,9 +84,9 @@ Existing MP tasks can be created the same way as above. Just keep in mind, calli
 trajectory.
 
 ```python
-import alr_envs
+import fancy_gym
 
-env = alr_envs.make('HoleReacherProMP-v0', seed=1)
+env = fancy_gym.make('HoleReacherProMP-v0', seed=1)
 # render() can be called once in the beginning with all necessary arguments. To turn it of again just call render(None). 
 env.render()
 
@@ -104,19 +103,19 @@ To show all available environments, we provide some additional convenience. Each
 keys `DMP` and `ProMP` that store a list of available environment names.
 
 ```python
-import alr_envs
+import fancy_gym
 
 print("Custom MP tasks:")
-print(alr_envs.ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS)
+print(fancy_gym.ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS)
 
 print("OpenAI Gym MP tasks:")
-print(alr_envs.ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS)
+print(fancy_gym.ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS)
 
 print("Deepmind Control MP tasks:")
-print(alr_envs.ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS)
+print(fancy_gym.ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS)
 
 print("MetaWorld MP tasks:")
-print(alr_envs.ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS)
+print(fancy_gym.ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS)
 ```
 
 ### How to create a new MP task
@@ -181,12 +180,12 @@ class MPWrapper(MPEnvWrapper):
 
 ```
 
-If you created a new task wrapper, feel free to open a PR, so we can integrate it for others to use as well. 
-Without the integration the task can still be used. A rough outline can be shown here, for more details we recommend 
-having a look at the [examples](alr_envs/examples/).
+If you created a new task wrapper, feel free to open a PR, so we can integrate it for others to use as well. Without the
+integration the task can still be used. A rough outline can be shown here, for more details we recommend having a look
+at the [examples](fancy_gym/examples/).
 
 ```python
-import alr_envs
+import fancy_gym
 
 # Base environment name, according to structure of above example
 base_env_id = "ball_in_cup-catch"
@@ -194,12 +193,12 @@ base_env_id = "ball_in_cup-catch"
 # Replace this wrapper with the custom wrapper for your environment by inheriting from the MPEnvWrapper.
 # You can also add other gym.Wrappers in case they are needed, 
 # e.g. gym.wrappers.FlattenObservation for dict observations
-wrappers = [alr_envs.dmc.suite.ball_in_cup.MPWrapper]
+wrappers = [fancy_gym.dmc.suite.ball_in_cup.MPWrapper]
 mp_kwargs = {...}
 kwargs = {...}
-env = alr_envs.make_dmp_env(base_env_id, wrappers=wrappers, seed=1, mp_kwargs=mp_kwargs, **kwargs)
+env = fancy_gym.make_dmp_env(base_env_id, wrappers=wrappers, seed=1, mp_kwargs=mp_kwargs, **kwargs)
 # OR for a deterministic ProMP (other traj_gen_kwargs are required):
-# env = alr_envs.make_promp_env(base_env, wrappers=wrappers, seed=seed, traj_gen_kwargs=mp_args)
+# env = fancy_gym.make_promp_env(base_env, wrappers=wrappers, seed=seed, traj_gen_kwargs=mp_args)
 
 rewards = 0
 obs = env.reset()

fancy_gym/__init__.py

@@ -1,14 +1,13 @@
-from alr_envs import dmc, meta, open_ai
-from alr_envs.utils.make_env_helpers import make, make_bb, make_rank
-
+from fancy_gym import dmc, meta, open_ai
+from fancy_gym.utils.make_env_helpers import make, make_bb, make_rank
+from .dmc import ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS
 # Convenience function for all MP environments
 from .envs import ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS
-from .dmc import ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS
 from .meta import ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS
-from .open_ai import ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS
+from .open_ai import ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS
 
 ALL_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {
     key: value + ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS[key] +
-         ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS[key] +
+         ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS[key] +
          ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS[key]
     for key, value in ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS.items()}

fancy_gym/black_box/black_box_wrapper.py

@@ -1,4 +1,5 @@
 import os
+
 os.environ["MUJOCO_GL"] = "egl"
 
 from typing import Tuple, Optional
@@ -8,9 +9,9 @@ import numpy as np
 from gym import spaces
 from mp_pytorch.mp.mp_interfaces import MPInterface
 
-from alr_envs.black_box.controller.base_controller import BaseController
-from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
-from alr_envs.utils.utils import get_numpy
+from fancy_gym.black_box.controller.base_controller import BaseController
+from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
+from fancy_gym.utils.utils import get_numpy
 
 
 class BlackBoxWrapper(gym.ObservationWrapper):
@@ -77,12 +78,10 @@ class BlackBoxWrapper(gym.ObservationWrapper):
     def get_trajectory(self, action: np.ndarray) -> Tuple:
         clipped_params = np.clip(action, self.traj_gen_action_space.low, self.traj_gen_action_space.high)
         self.traj_gen.set_params(clipped_params)
-        # TODO: Bruce said DMP, ProMP, ProDMP can have 0 bc_time for sequencing
-        # TODO Check with Bruce for replanning
+        # TODO: is this correct for replanning? Do we need to adjust anything here?
         self.traj_gen.set_boundary_conditions(
             bc_time=np.array(0) if not self.do_replanning else np.array([self.current_traj_steps * self.dt]),
             bc_pos=self.current_pos, bc_vel=self.current_vel)
-        # TODO: is this correct for replanning? Do we need to adjust anything here?
         self.traj_gen.set_duration(None if self.learn_sub_trajectories else np.array([self.duration]),
                                    np.array([self.dt]))
         traj_dict = self.traj_gen.get_trajs(get_pos=True, get_vel=True)
@@ -99,9 +98,9 @@ class BlackBoxWrapper(gym.ObservationWrapper):
 
     def _get_action_space(self):
         """
-        This function can be used to modify the action space for considering actions which are not learned via motion
+        This function can be used to modify the action space for considering actions which are not learned via movement
         primitives. E.g. ball releasing time for the beer pong task. By default, it is the parameter space of the
-        motion primitive.
+        movement primitive.
         Only needs to be overwritten if the action space needs to be modified.
         """
         try:
@@ -138,7 +137,6 @@ class BlackBoxWrapper(gym.ObservationWrapper):
         for t, (pos, vel) in enumerate(zip(trajectory, velocity)):
             step_action = self.tracking_controller.get_action(pos, vel, self.current_pos, self.current_vel)
             c_action = np.clip(step_action, self.env.action_space.low, self.env.action_space.high)
-            # print('step/clipped action ratio: ', step_action/c_action)
             obs, c_reward, done, info = self.env.step(c_action)
             rewards[t] = c_reward
 
@@ -176,26 +174,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
         """Only set render options here, such that they can be used during the rollout.
         This only needs to be called once"""
         self.render_kwargs = kwargs
-        # self.env.render(mode=self.render_mode, **self.render_kwargs)
-        # self.env.render(**self.render_kwargs)
 
     def reset(self, *, seed: Optional[int] = None, return_info: bool = False, options: Optional[dict] = None):
         self.current_traj_steps = 0
         return super(BlackBoxWrapper, self).reset()
-
-    def plot_trajs(self, des_trajs, des_vels):
-        import matplotlib.pyplot as plt
-        import matplotlib
-        matplotlib.use('TkAgg')
-        pos_fig = plt.figure('positions')
-        vel_fig = plt.figure('velocities')
-        for i in range(des_trajs.shape[1]):
-            plt.figure(pos_fig.number)
-            plt.subplot(des_trajs.shape[1], 1, i + 1)
-            plt.plot(np.ones(des_trajs.shape[0]) * self.current_pos[i])
-            plt.plot(des_trajs[:, i])
-
-            plt.figure(vel_fig.number)
-            plt.subplot(des_vels.shape[1], 1, i + 1)
-            plt.plot(np.ones(des_trajs.shape[0]) * self.current_vel[i])
-            plt.plot(des_vels[:, i])

fancy_gym/black_box/controller/meta_world_controller.py

@@ -1,6 +1,6 @@
 import numpy as np
 
-from alr_envs.black_box.controller.base_controller import BaseController
+from fancy_gym.black_box.controller.base_controller import BaseController
 
 
 class MetaWorldController(BaseController):

fancy_gym/black_box/controller/pd_controller.py

@@ -1,6 +1,6 @@
 from typing import Union, Tuple
 
-from alr_envs.black_box.controller.base_controller import BaseController
+from fancy_gym.black_box.controller.base_controller import BaseController
 
 
 class PDController(BaseController):

fancy_gym/black_box/controller/pos_controller.py

@@ -1,4 +1,4 @@
-from alr_envs.black_box.controller.base_controller import BaseController
+from fancy_gym.black_box.controller.base_controller import BaseController
 
 
 class PosController(BaseController):

fancy_gym/black_box/controller/vel_controller.py

@@ -1,4 +1,4 @@
-from alr_envs.black_box.controller.base_controller import BaseController
+from fancy_gym.black_box.controller.base_controller import BaseController
 
 
 class VelController(BaseController):

fancy_gym/black_box/factory/controller_factory.py

@@ -1,7 +1,7 @@
-from alr_envs.black_box.controller.meta_world_controller import MetaWorldController
-from alr_envs.black_box.controller.pd_controller import PDController
-from alr_envs.black_box.controller.vel_controller import VelController
-from alr_envs.black_box.controller.pos_controller import PosController
+from fancy_gym.black_box.controller.meta_world_controller import MetaWorldController
+from fancy_gym.black_box.controller.pd_controller import PDController
+from fancy_gym.black_box.controller.pos_controller import PosController
+from fancy_gym.black_box.controller.vel_controller import VelController
 
 ALL_TYPES = ["motor", "velocity", "position", "metaworld"]
 

fancy_gym/black_box/factory/trajectory_generator_factory.py

@@ -1,8 +1,7 @@
-from mp_pytorch.mp.dmp import DMP
-from mp_pytorch.mp.promp import ProMP
-from mp_pytorch.mp.idmp import IDMP
-
 from mp_pytorch.basis_gn.basis_generator import BasisGenerator
+from mp_pytorch.mp.dmp import DMP
+from mp_pytorch.mp.idmp import IDMP
+from mp_pytorch.mp.promp import ProMP
 
 ALL_TYPES = ["promp", "dmp", "idmp"]
 

fancy_gym/black_box/raw_interface_wrapper.py

@@ -1,9 +1,9 @@
-from typing import Union, Tuple
-from mp_pytorch.mp.mp_interfaces import MPInterface
 from abc import abstractmethod
+from typing import Union, Tuple
 
 import gym
 import numpy as np
+from mp_pytorch.mp.mp_interfaces import MPInterface
 
 
 class RawInterfaceWrapper(gym.Wrapper):
@@ -55,7 +55,7 @@ class RawInterfaceWrapper(gym.Wrapper):
     def episode_callback(self, action: np.ndarray, traj_gen: MPInterface) -> Tuple[
         np.ndarray, Union[np.ndarray, None]]:
         """
-        Used to extract the parameters for the motion primitive and other parameters from an action array which might
+        Used to extract the parameters for the movement primitive and other parameters from an action array which might
         include other actions like ball releasing time for the beer pong environment.
         This only needs to be overwritten if the action space is modified.
         Args:

fancy_gym/dmc/__init__.py

@@ -56,7 +56,7 @@ kwargs_dict_bic_dmp['phase_generator_kwargs']['alpha_phase'] = 2
 kwargs_dict_bic_dmp['trajectory_generator_kwargs']['weight_scale'] = 10  # TODO: weight scale 1, but goal scale 0.1
 register(
     id=f'dmc_ball_in_cup-catch_dmp-v0',
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     kwargs=kwargs_dict_bic_dmp
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_ball_in_cup-catch_dmp-v0")
@@ -66,7 +66,7 @@ kwargs_dict_bic_promp['name'] = f"dmc:ball_in_cup-catch"
 kwargs_dict_bic_promp['wrappers'].append(suite.ball_in_cup.MPWrapper)
 register(
     id=f'dmc_ball_in_cup-catch_promp-v0',
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     kwargs=kwargs_dict_bic_promp
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_ball_in_cup-catch_promp-v0")
@@ -80,7 +80,7 @@ kwargs_dict_reacher_easy_dmp['phase_generator_kwargs']['alpha_phase'] = 2
 kwargs_dict_reacher_easy_dmp['trajectory_generator_kwargs']['weight_scale'] = 500
 register(
     id=f'dmc_reacher-easy_dmp-v0',
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     kwargs=kwargs_dict_bic_dmp
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-easy_dmp-v0")
@@ -91,7 +91,7 @@ kwargs_dict_reacher_easy_promp['wrappers'].append(suite.reacher.MPWrapper)
 kwargs_dict_reacher_easy_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
 register(
     id=f'dmc_reacher-easy_promp-v0',
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     kwargs=kwargs_dict_reacher_easy_promp
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_reacher-easy_promp-v0")
@@ -105,7 +105,7 @@ kwargs_dict_reacher_hard_dmp['phase_generator_kwargs']['alpha_phase'] = 2
 kwargs_dict_reacher_hard_dmp['trajectory_generator_kwargs']['weight_scale'] = 500
 register(
     id=f'dmc_reacher-hard_dmp-v0',
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     kwargs=kwargs_dict_reacher_hard_dmp
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-hard_dmp-v0")
@@ -116,7 +116,7 @@ kwargs_dict_reacher_hard_promp['wrappers'].append(suite.reacher.MPWrapper)
 kwargs_dict_reacher_hard_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
 register(
     id=f'dmc_reacher-hard_promp-v0',
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     kwargs=kwargs_dict_reacher_hard_promp
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_reacher-hard_promp-v0")
@@ -136,7 +136,7 @@ for _task in _dmc_cartpole_tasks:
     kwargs_dict_cartpole_dmp['controller_kwargs']['d_gains'] = 10
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
         kwargs=kwargs_dict_cartpole_dmp
     )
     ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
@@ -150,7 +150,7 @@ for _task in _dmc_cartpole_tasks:
     kwargs_dict_cartpole_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
         kwargs=kwargs_dict_cartpole_promp
     )
     ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
@@ -167,7 +167,7 @@ kwargs_dict_cartpole2poles_dmp['controller_kwargs']['d_gains'] = 10
 _env_id = f'dmc_cartpole-two_poles_dmp-v0'
 register(
     id=_env_id,
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     kwargs=kwargs_dict_cartpole2poles_dmp
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
@@ -181,7 +181,7 @@ kwargs_dict_cartpole2poles_promp['trajectory_generator_kwargs']['weight_scale']
 _env_id = f'dmc_cartpole-two_poles_promp-v0'
 register(
     id=_env_id,
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     kwargs=kwargs_dict_cartpole2poles_promp
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
@@ -198,7 +198,7 @@ kwargs_dict_cartpole3poles_dmp['controller_kwargs']['d_gains'] = 10
 _env_id = f'dmc_cartpole-three_poles_dmp-v0'
 register(
     id=_env_id,
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     kwargs=kwargs_dict_cartpole3poles_dmp
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
@@ -212,7 +212,7 @@ kwargs_dict_cartpole3poles_promp['trajectory_generator_kwargs']['weight_scale']
 _env_id = f'dmc_cartpole-three_poles_promp-v0'
 register(
     id=_env_id,
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     kwargs=kwargs_dict_cartpole3poles_promp
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
@@ -227,7 +227,7 @@ kwargs_dict_mani_reach_site_features_dmp['trajectory_generator_kwargs']['weight_
 kwargs_dict_mani_reach_site_features_dmp['controller_kwargs']['controller_type'] = 'velocity'
 register(
     id=f'dmc_manipulation-reach_site_dmp-v0',
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     kwargs=kwargs_dict_mani_reach_site_features_dmp
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_manipulation-reach_site_dmp-v0")
@@ -239,7 +239,7 @@ kwargs_dict_mani_reach_site_features_promp['trajectory_generator_kwargs']['weigh
 kwargs_dict_mani_reach_site_features_promp['controller_kwargs']['controller_type'] = 'velocity'
 register(
     id=f'dmc_manipulation-reach_site_promp-v0',
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     kwargs=kwargs_dict_mani_reach_site_features_promp
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_manipulation-reach_site_promp-v0")

fancy_gym/dmc/dmc_wrapper.py

@@ -5,9 +5,9 @@ import collections
 from collections.abc import MutableMapping
 from typing import Any, Dict, Tuple, Optional, Union, Callable
 
-from dm_control import composer
 import gym
 import numpy as np
+from dm_control import composer
 from dm_control.rl import control
 from dm_env import specs
 from gym import spaces

fancy_gym/dmc/manipulation/reach_site/mp_wrapper.py

@@ -2,7 +2,7 @@ from typing import Tuple, Union
 
 import numpy as np
 
-from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
+from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):

fancy_gym/dmc/suite/ball_in_cup/mp_wrapper.py

@@ -2,7 +2,7 @@ from typing import Tuple, Union
 
 import numpy as np
 
-from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
+from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):

fancy_gym/dmc/suite/cartpole/__init__.py

@@ -1,3 +1,3 @@
 from .mp_wrapper import MPWrapper
-from .mp_wrapper import TwoPolesMPWrapper
 from .mp_wrapper import ThreePolesMPWrapper
+from .mp_wrapper import TwoPolesMPWrapper

fancy_gym/dmc/suite/cartpole/mp_wrapper.py

@@ -2,7 +2,7 @@ from typing import Tuple, Union
 
 import numpy as np
 
-from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
+from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):

fancy_gym/dmc/suite/reacher/mp_wrapper.py

@@ -2,7 +2,7 @@ from typing import Tuple, Union
 
 import numpy as np
 
-from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
+from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):

fancy_gym/envs/__init__.py

@@ -8,13 +8,13 @@ from .classic_control.hole_reacher.hole_reacher import HoleReacherEnv
 from .classic_control.simple_reacher.simple_reacher import SimpleReacherEnv
 from .classic_control.viapoint_reacher.viapoint_reacher import ViaPointReacherEnv
 from .mujoco.ant_jump.ant_jump import MAX_EPISODE_STEPS_ANTJUMP
+from .mujoco.beerpong.beerpong import MAX_EPISODE_STEPS_BEERPONG
 from .mujoco.half_cheetah_jump.half_cheetah_jump import MAX_EPISODE_STEPS_HALFCHEETAHJUMP
 from .mujoco.hopper_jump.hopper_jump import MAX_EPISODE_STEPS_HOPPERJUMP
 from .mujoco.hopper_jump.hopper_jump_on_box import MAX_EPISODE_STEPS_HOPPERJUMPONBOX
 from .mujoco.hopper_throw.hopper_throw import MAX_EPISODE_STEPS_HOPPERTHROW
 from .mujoco.hopper_throw.hopper_throw_in_basket import MAX_EPISODE_STEPS_HOPPERTHROWINBASKET
-from .mujoco.beerpong.beerpong import MAX_EPISODE_STEPS_BEERPONG
-from .mujoco.reacher.reacher import ReacherEnv
+from .mujoco.reacher.reacher import ReacherEnv, MAX_EPISODE_STEPS_REACHER
 from .mujoco.walker_2d_jump.walker_2d_jump import MAX_EPISODE_STEPS_WALKERJUMP
 
 ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
@@ -64,7 +64,7 @@ DEFAULT_BB_DICT_DMP = {
 ## Simple Reacher
 register(
     id='SimpleReacher-v0',
-    entry_point='alr_envs.envs.classic_control:SimpleReacherEnv',
+    entry_point='fancy_gym.envs.classic_control:SimpleReacherEnv',
     max_episode_steps=200,
     kwargs={
         "n_links": 2,
@@ -73,7 +73,7 @@ register(
 
 register(
     id='LongSimpleReacher-v0',
-    entry_point='alr_envs.envs.classic_control:SimpleReacherEnv',
+    entry_point='fancy_gym.envs.classic_control:SimpleReacherEnv',
     max_episode_steps=200,
     kwargs={
         "n_links": 5,
@@ -84,7 +84,7 @@ register(
 
 register(
     id='ViaPointReacher-v0',
-    entry_point='alr_envs.envs.classic_control:ViaPointReacherEnv',
+    entry_point='fancy_gym.envs.classic_control:ViaPointReacherEnv',
     max_episode_steps=200,
     kwargs={
         "n_links": 5,
@@ -96,7 +96,7 @@ register(
 ## Hole Reacher
 register(
     id='HoleReacher-v0',
-    entry_point='alr_envs.envs.classic_control:HoleReacherEnv',
+    entry_point='fancy_gym.envs.classic_control:HoleReacherEnv',
     max_episode_steps=200,
     kwargs={
         "n_links": 5,
@@ -112,12 +112,12 @@ register(
 
 # Mujoco
 
-## Reacher
+## Mujoco Reacher
 for _dims in [5, 7]:
     register(
         id=f'Reacher{_dims}d-v0',
-        entry_point='alr_envs.envs.mujoco:ReacherEnv',
-        max_episode_steps=200,
+        entry_point='fancy_gym.envs.mujoco:ReacherEnv',
+        max_episode_steps=MAX_EPISODE_STEPS_REACHER,
         kwargs={
             "n_links": _dims,
         }
@@ -125,17 +125,18 @@ for _dims in [5, 7]:
 
     register(
         id=f'Reacher{_dims}dSparse-v0',
-        entry_point='alr_envs.envs.mujoco:ReacherEnv',
-        max_episode_steps=200,
+        entry_point='fancy_gym.envs.mujoco:ReacherEnv',
+        max_episode_steps=MAX_EPISODE_STEPS_REACHER,
         kwargs={
             "sparse": True,
+            'reward_weight': 200,
             "n_links": _dims,
         }
     )
 
 register(
     id='HopperJumpSparse-v0',
-    entry_point='alr_envs.envs.mujoco:HopperJumpEnv',
+    entry_point='fancy_gym.envs.mujoco:HopperJumpEnv',
     max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
     kwargs={
         "sparse": True,
@@ -144,7 +145,7 @@ register(
 
 register(
     id='HopperJump-v0',
-    entry_point='alr_envs.envs.mujoco:HopperJumpEnv',
+    entry_point='fancy_gym.envs.mujoco:HopperJumpEnv',
     max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
     kwargs={
         "sparse": False,
@@ -156,43 +157,43 @@ register(
 
 register(
     id='AntJump-v0',
-    entry_point='alr_envs.envs.mujoco:AntJumpEnv',
+    entry_point='fancy_gym.envs.mujoco:AntJumpEnv',
     max_episode_steps=MAX_EPISODE_STEPS_ANTJUMP,
 )
 
 register(
     id='HalfCheetahJump-v0',
-    entry_point='alr_envs.envs.mujoco:HalfCheetahJumpEnv',
+    entry_point='fancy_gym.envs.mujoco:HalfCheetahJumpEnv',
     max_episode_steps=MAX_EPISODE_STEPS_HALFCHEETAHJUMP,
 )
 
 register(
     id='HopperJumpOnBox-v0',
-    entry_point='alr_envs.envs.mujoco:HopperJumpOnBoxEnv',
+    entry_point='fancy_gym.envs.mujoco:HopperJumpOnBoxEnv',
     max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMPONBOX,
 )
 
 register(
-    id='ALRHopperThrow-v0',
-    entry_point='alr_envs.envs.mujoco:HopperThrowEnv',
+    id='HopperThrow-v0',
+    entry_point='fancy_gym.envs.mujoco:HopperThrowEnv',
     max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROW,
 )
 
 register(
-    id='ALRHopperThrowInBasket-v0',
-    entry_point='alr_envs.envs.mujoco:HopperThrowInBasketEnv',
+    id='HopperThrowInBasket-v0',
+    entry_point='fancy_gym.envs.mujoco:HopperThrowInBasketEnv',
     max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROWINBASKET,
 )
 
 register(
-    id='ALRWalker2DJump-v0',
-    entry_point='alr_envs.envs.mujoco:Walker2dJumpEnv',
+    id='Walker2DJump-v0',
+    entry_point='fancy_gym.envs.mujoco:Walker2dJumpEnv',
     max_episode_steps=MAX_EPISODE_STEPS_WALKERJUMP,
 )
 
 register(
     id='BeerPong-v0',
-    entry_point='alr_envs.envs.mujoco:BeerPongEnv',
+    entry_point='fancy_gym.envs.mujoco:BeerPongEnv',
     max_episode_steps=MAX_EPISODE_STEPS_BEERPONG,
 )
 
@@ -200,18 +201,18 @@ register(
 # only one time step, i.e. we simulate until the end of th episode
 register(
     id='BeerPongStepBased-v0',
-    entry_point='alr_envs.envs.mujoco:BeerPongEnvStepBasedEpisodicReward',
+    entry_point='fancy_gym.envs.mujoco:BeerPongEnvStepBasedEpisodicReward',
     max_episode_steps=MAX_EPISODE_STEPS_BEERPONG,
 )
 
 # Beerpong with episodic reward, but fixed release time step
 register(
     id='BeerPongFixedRelease-v0',
-    entry_point='alr_envs.envs.mujoco:BeerPongEnvFixedReleaseStep',
+    entry_point='fancy_gym.envs.mujoco:BeerPongEnvFixedReleaseStep',
     max_episode_steps=MAX_EPISODE_STEPS_BEERPONG,
 )
 
-# Motion Primitive Environments
+# movement Primitive Environments
 
 ## Simple Reacher
 _versions = ["SimpleReacher-v0", "LongSimpleReacher-v0"]
@@ -227,7 +228,7 @@ for _v in _versions:
     kwargs_dict_simple_reacher_dmp['name'] = f"{_v}"
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
         kwargs=kwargs_dict_simple_reacher_dmp
     )
     ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
@@ -240,7 +241,7 @@ for _v in _versions:
     kwargs_dict_simple_reacher_promp['name'] = _v
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
         kwargs=kwargs_dict_simple_reacher_promp
     )
     ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
@@ -254,7 +255,7 @@ kwargs_dict_via_point_reacher_dmp['phase_generator_kwargs']['alpha_phase'] = 2
 kwargs_dict_via_point_reacher_dmp['name'] = "ViaPointReacher-v0"
 register(
     id='ViaPointReacherDMP-v0',
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     # max_episode_steps=1,
     kwargs=kwargs_dict_via_point_reacher_dmp
 )
@@ -266,7 +267,7 @@ kwargs_dict_via_point_reacher_promp['controller_kwargs']['controller_type'] = 'v
 kwargs_dict_via_point_reacher_promp['name'] = "ViaPointReacher-v0"
 register(
     id="ViaPointReacherProMP-v0",
-    entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+    entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
     kwargs=kwargs_dict_via_point_reacher_promp
 )
 ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ViaPointReacherProMP-v0")
@@ -285,7 +286,7 @@ for _v in _versions:
     kwargs_dict_hole_reacher_dmp['name'] = _v
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
         # max_episode_steps=1,
         kwargs=kwargs_dict_hole_reacher_dmp
     )
@@ -299,7 +300,7 @@ for _v in _versions:
     kwargs_dict_hole_reacher_promp['name'] = f"{_v}"
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
         kwargs=kwargs_dict_hole_reacher_promp
     )
     ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
@@ -309,30 +310,26 @@ _versions = ["Reacher5d-v0", "Reacher7d-v0", "Reacher5dSparse-v0", "Reacher7dSpa
 for _v in _versions:
     _name = _v.split("-")
     _env_id = f'{_name[0]}DMP-{_name[1]}'
-    kwargs_dict_reacherNd_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
-    kwargs_dict_reacherNd_dmp['wrappers'].append(mujoco.reacher.MPWrapper)
-    kwargs_dict_reacherNd_dmp['trajectory_generator_kwargs']['weight_scale'] = 5
-    kwargs_dict_reacherNd_dmp['phase_generator_kwargs']['alpha_phase'] = 2
-    kwargs_dict_reacherNd_dmp['basis_generator_kwargs']['num_basis'] = 2
-    kwargs_dict_reacherNd_dmp['name'] = _v
+    kwargs_dict_reacher_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
+    kwargs_dict_reacher_dmp['wrappers'].append(mujoco.reacher.MPWrapper)
+    kwargs_dict_reacher_dmp['phase_generator_kwargs']['alpha_phase'] = 2
+    kwargs_dict_reacher_dmp['name'] = _v
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
         # max_episode_steps=1,
-        kwargs=kwargs_dict_reacherNd_dmp
+        kwargs=kwargs_dict_reacher_dmp
     )
     ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
 
     _env_id = f'{_name[0]}ProMP-{_name[1]}'
-    kwargs_dict_alr_reacher_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
-    kwargs_dict_alr_reacher_promp['wrappers'].append(mujoco.reacher.MPWrapper)
-    kwargs_dict_alr_reacher_promp['controller_kwargs']['p_gains'] = 1
-    kwargs_dict_alr_reacher_promp['controller_kwargs']['d_gains'] = 0.1
-    kwargs_dict_alr_reacher_promp['name'] = _v
+    kwargs_dict_reacher_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
+    kwargs_dict_reacher_promp['wrappers'].append(mujoco.reacher.MPWrapper)
+    kwargs_dict_reacher_promp['name'] = _v
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
-        kwargs=kwargs_dict_alr_reacher_promp
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
+        kwargs=kwargs_dict_reacher_promp
     )
     ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
 
@@ -352,7 +349,7 @@ for _v in _versions:
     kwargs_dict_bp_promp['name'] = _v
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
         kwargs=kwargs_dict_bp_promp
     )
     ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
@@ -372,7 +369,7 @@ for _v in _versions:
     kwargs_dict_bp_promp['name'] = _v
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
         kwargs=kwargs_dict_bp_promp
     )
     ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
@@ -384,7 +381,7 @@ for _v in _versions:
 # ########################################################################################################################
 #
 # ## AntJump
-# _versions = ['ALRAntJump-v0']
+# _versions = ['AntJump-v0']
 # for _v in _versions:
 #     _name = _v.split("-")
 #     _env_id = f'{_name[0]}ProMP-{_name[1]}'
@@ -393,7 +390,7 @@ for _v in _versions:
 #     kwargs_dict_ant_jump_promp['name'] = _v
 #     register(
 #         id=_env_id,
-#         entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+#         entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
 #         kwargs=kwargs_dict_ant_jump_promp
 #     )
 #     ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
@@ -401,7 +398,7 @@ for _v in _versions:
 # ########################################################################################################################
 #
 # ## HalfCheetahJump
-# _versions = ['ALRHalfCheetahJump-v0']
+# _versions = ['HalfCheetahJump-v0']
 # for _v in _versions:
 #     _name = _v.split("-")
 #     _env_id = f'{_name[0]}ProMP-{_name[1]}'
@@ -410,7 +407,7 @@ for _v in _versions:
 #     kwargs_dict_halfcheetah_jump_promp['name'] = _v
 #     register(
 #         id=_env_id,
-#         entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+#         entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
 #         kwargs=kwargs_dict_halfcheetah_jump_promp
 #     )
 #     ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
@@ -420,7 +417,7 @@ for _v in _versions:
 
 ## HopperJump
 _versions = ['HopperJump-v0', 'HopperJumpSparse-v0',
-             # 'ALRHopperJumpOnBox-v0', 'ALRHopperThrow-v0', 'ALRHopperThrowInBasket-v0'
+             # 'HopperJumpOnBox-v0', 'HopperThrow-v0', 'HopperThrowInBasket-v0'
              ]
 # TODO: Check if all environments work with the same MPWrapper
 for _v in _versions:
@@ -431,7 +428,7 @@ for _v in _versions:
     kwargs_dict_hopper_jump_promp['name'] = _v
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
         kwargs=kwargs_dict_hopper_jump_promp
     )
     ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
@@ -440,7 +437,7 @@ for _v in _versions:
 #
 #
 # ## Walker2DJump
-# _versions = ['ALRWalker2DJump-v0']
+# _versions = ['Walker2DJump-v0']
 # for _v in _versions:
 #     _name = _v.split("-")
 #     _env_id = f'{_name[0]}ProMP-{_name[1]}'
@@ -449,7 +446,7 @@ for _v in _versions:
 #     kwargs_dict_walker2d_jump_promp['name'] = _v
 #     register(
 #         id=_env_id,
-#         entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
+#         entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
 #         kwargs=kwargs_dict_walker2d_jump_promp
 #     )
 #     ALL_ALR_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
@@ -458,7 +455,7 @@ for _v in _versions:
 """
 register(
     id='SimpleReacher-v1',
-    entry_point='alr_envs.envs.classic_control:SimpleReacherEnv',
+    entry_point='fancy_gym.envs.classic_control:SimpleReacherEnv',
     max_episode_steps=200,
     kwargs={
         "n_links": 2,
@@ -468,7 +465,7 @@ register(
 
 register(
     id='LongSimpleReacher-v1',
-    entry_point='alr_envs.envs.classic_control:SimpleReacherEnv',
+    entry_point='fancy_gym.envs.classic_control:SimpleReacherEnv',
     max_episode_steps=200,
     kwargs={
         "n_links": 5,
@@ -477,7 +474,7 @@ register(
 )
 register(
     id='HoleReacher-v1',
-    entry_point='alr_envs.envs.classic_control:HoleReacherEnv',
+    entry_point='fancy_gym.envs.classic_control:HoleReacherEnv',
     max_episode_steps=200,
     kwargs={
         "n_links": 5,
@@ -492,7 +489,7 @@ register(
 )
 register(
     id='HoleReacher-v2',
-    entry_point='alr_envs.envs.classic_control:HoleReacherEnv',
+    entry_point='fancy_gym.envs.classic_control:HoleReacherEnv',
     max_episode_steps=200,
     kwargs={
         "n_links": 5,
@@ -508,8 +505,8 @@ register(
 
 # CtxtFree are v0, Contextual are v1
 register(
-    id='ALRAntJump-v0',
-    entry_point='alr_envs.envs.mujoco:AntJumpEnv',
+    id='AntJump-v0',
+    entry_point='fancy_gym.envs.mujoco:AntJumpEnv',
     max_episode_steps=MAX_EPISODE_STEPS_ANTJUMP,
     kwargs={
         "max_episode_steps": MAX_EPISODE_STEPS_ANTJUMP,
@@ -518,8 +515,8 @@ register(
 )
 # CtxtFree are v0, Contextual are v1
 register(
-    id='ALRHalfCheetahJump-v0',
-    entry_point='alr_envs.envs.mujoco:HalfCheetahJumpEnv',
+    id='HalfCheetahJump-v0',
+    entry_point='fancy_gym.envs.mujoco:HalfCheetahJumpEnv',
     max_episode_steps=MAX_EPISODE_STEPS_HALFCHEETAHJUMP,
     kwargs={
         "max_episode_steps": MAX_EPISODE_STEPS_HALFCHEETAHJUMP,
@@ -527,8 +524,8 @@ register(
     }
 )
 register(
-    id='ALRHopperJump-v0',
-    entry_point='alr_envs.envs.mujoco:HopperJumpEnv',
+    id='HopperJump-v0',
+    entry_point='fancy_gym.envs.mujoco:HopperJumpEnv',
     max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
     kwargs={
         "max_episode_steps": MAX_EPISODE_STEPS_HOPPERJUMP,
@@ -546,26 +543,26 @@ for i in _vs:
     _env_id = f'ALRReacher{i}-v0'
     register(
         id=_env_id,
-        entry_point='alr_envs.envs.mujoco:ReacherEnv',
+        entry_point='fancy_gym.envs.mujoco:ReacherEnv',
         max_episode_steps=200,
         kwargs={
             "steps_before_reward": 0,
             "n_links": 5,
             "balance": False,
-            'ctrl_cost_weight': i
+            '_ctrl_cost_weight': i
         }
     )
 
     _env_id = f'ALRReacherSparse{i}-v0'
     register(
         id=_env_id,
-        entry_point='alr_envs.envs.mujoco:ReacherEnv',
+        entry_point='fancy_gym.envs.mujoco:ReacherEnv',
         max_episode_steps=200,
         kwargs={
             "steps_before_reward": 200,
             "n_links": 5,
             "balance": False,
-            'ctrl_cost_weight': i
+            '_ctrl_cost_weight': i
         }
     )
     _vs = np.arange(101).tolist() + [1e-5, 5e-5, 1e-4, 5e-4, 1e-3, 5e-3, 1e-2, 5e-2, 1e-1, 5e-1]
@@ -573,7 +570,7 @@ for i in _vs:
     _env_id = f'ALRReacher{i}ProMP-v0'
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
+        entry_point='fancy_gym.utils.make_env_helpers:make_promp_env_helper',
         kwargs={
             "name": f"{_env_id.replace('ProMP', '')}",
             "wrappers": [mujoco.reacher.MPWrapper],
@@ -596,7 +593,7 @@ for i in _vs:
     _env_id = f'ALRReacherSparse{i}ProMP-v0'
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
+        entry_point='fancy_gym.utils.make_env_helpers:make_promp_env_helper',
         kwargs={
             "name": f"{_env_id.replace('ProMP', '')}",
             "wrappers": [mujoco.reacher.MPWrapper],
@@ -617,8 +614,8 @@ for i in _vs:
     )
     
     register(
-        id='ALRHopperJumpOnBox-v0',
-        entry_point='alr_envs.envs.mujoco:HopperJumpOnBoxEnv',
+        id='HopperJumpOnBox-v0',
+        entry_point='fancy_gym.envs.mujoco:HopperJumpOnBoxEnv',
         max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMPONBOX,
         kwargs={
             "max_episode_steps": MAX_EPISODE_STEPS_HOPPERJUMPONBOX,
@@ -626,8 +623,8 @@ for i in _vs:
         }
     )
     register(
-    id='ALRHopperThrow-v0',
-    entry_point='alr_envs.envs.mujoco:HopperThrowEnv',
+    id='HopperThrow-v0',
+    entry_point='fancy_gym.envs.mujoco:HopperThrowEnv',
     max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROW,
     kwargs={
         "max_episode_steps": MAX_EPISODE_STEPS_HOPPERTHROW,
@@ -635,8 +632,8 @@ for i in _vs:
     }
     )   
     register(
-    id='ALRHopperThrowInBasket-v0',
-    entry_point='alr_envs.envs.mujoco:HopperThrowInBasketEnv',
+    id='HopperThrowInBasket-v0',
+    entry_point='fancy_gym.envs.mujoco:HopperThrowInBasketEnv',
     max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROWINBASKET,
     kwargs={
         "max_episode_steps": MAX_EPISODE_STEPS_HOPPERTHROWINBASKET,
@@ -644,8 +641,8 @@ for i in _vs:
     }
     )
     register(
-    id='ALRWalker2DJump-v0',
-    entry_point='alr_envs.envs.mujoco:Walker2dJumpEnv',
+    id='Walker2DJump-v0',
+    entry_point='fancy_gym.envs.mujoco:Walker2dJumpEnv',
     max_episode_steps=MAX_EPISODE_STEPS_WALKERJUMP,
     kwargs={
         "max_episode_steps": MAX_EPISODE_STEPS_WALKERJUMP,
@@ -653,13 +650,13 @@ for i in _vs:
     }
     )
     register(id='TableTennis2DCtxt-v1',
-         entry_point='alr_envs.envs.mujoco:TTEnvGym',
+         entry_point='fancy_gym.envs.mujoco:TTEnvGym',
          max_episode_steps=MAX_EPISODE_STEPS,
          kwargs={'ctxt_dim': 2, 'fixed_goal': True})
 
     register(
-        id='ALRBeerPong-v0',
-        entry_point='alr_envs.envs.mujoco:ALRBeerBongEnv',
+        id='BeerPong-v0',
+        entry_point='fancy_gym.envs.mujoco:BeerBongEnv',
         max_episode_steps=300,
         kwargs={
             "rndm_goal": False,

fancy_gym/envs/classic_control/base_reacher/base_reacher.py

@@ -7,7 +7,7 @@ from gym import spaces
 from gym.core import ObsType
 from gym.utils import seeding
 
-from alr_envs.envs.classic_control.utils import intersect
+from fancy_gym.envs.classic_control.utils import intersect
 
 
 class BaseReacherEnv(gym.Env, ABC):

fancy_gym/envs/classic_control/base_reacher/base_reacher_direct.py

@@ -1,14 +1,16 @@
 from abc import ABC
 
-from gym import spaces
 import numpy as np
-from alr_envs.envs.classic_control.base_reacher.base_reacher import BaseReacherEnv
+from gym import spaces
+
+from fancy_gym.envs.classic_control.base_reacher.base_reacher import BaseReacherEnv
 
 
 class BaseReacherDirectEnv(BaseReacherEnv, ABC):
     """
     Base class for directly controlled reaching environments
     """
+
     def __init__(self, n_links: int, random_start: bool = True,
                  allow_self_collision: bool = False):
         super().__init__(n_links, random_start, allow_self_collision)

fancy_gym/envs/classic_control/base_reacher/base_reacher_torque.py

@@ -1,14 +1,16 @@
 from abc import ABC
 
-from gym import spaces
 import numpy as np
-from alr_envs.envs.classic_control.base_reacher.base_reacher import BaseReacherEnv
+from gym import spaces
+
+from fancy_gym.envs.classic_control.base_reacher.base_reacher import BaseReacherEnv
 
 
 class BaseReacherTorqueEnv(BaseReacherEnv, ABC):
     """
     Base class for torque controlled reaching environments
     """
+
     def __init__(self, n_links: int, random_start: bool = True,
                  allow_self_collision: bool = False):
         super().__init__(n_links, random_start, allow_self_collision)

fancy_gym/envs/classic_control/hole_reacher/hole_reacher.py

@@ -6,7 +6,9 @@ import numpy as np
 from gym.core import ObsType
 from matplotlib import patches
 
-from alr_envs.envs.classic_control.base_reacher.base_reacher_direct import BaseReacherDirectEnv
+from fancy_gym.envs.classic_control.base_reacher.base_reacher_direct import BaseReacherDirectEnv
+
+MAX_EPISODE_STEPS_HOLEREACHER = 200
 
 
 class HoleReacherEnv(BaseReacherDirectEnv):
@@ -41,13 +43,13 @@ class HoleReacherEnv(BaseReacherDirectEnv):
         self.observation_space = gym.spaces.Box(low=-state_bound, high=state_bound, shape=state_bound.shape)
 
         if rew_fct == "simple":
-            from alr_envs.envs.classic_control.hole_reacher.hr_simple_reward import HolereacherReward
+            from fancy_gym.envs.classic_control.hole_reacher.hr_simple_reward import HolereacherReward
             self.reward_function = HolereacherReward(allow_self_collision, allow_wall_collision, collision_penalty)
         elif rew_fct == "vel_acc":
-            from alr_envs.envs.classic_control.hole_reacher.hr_dist_vel_acc_reward import HolereacherReward
+            from fancy_gym.envs.classic_control.hole_reacher.hr_dist_vel_acc_reward import HolereacherReward
             self.reward_function = HolereacherReward(allow_self_collision, allow_wall_collision, collision_penalty)
         elif rew_fct == "unbounded":
-            from alr_envs.envs.classic_control.hole_reacher.hr_unbounded_reward import HolereacherReward
+            from fancy_gym.envs.classic_control.hole_reacher.hr_unbounded_reward import HolereacherReward
             self.reward_function = HolereacherReward(allow_self_collision, allow_wall_collision)
         else:
             raise ValueError("Unknown reward function {}".format(rew_fct))
@@ -224,7 +226,6 @@ class HoleReacherEnv(BaseReacherDirectEnv):
 
 
 if __name__ == "__main__":
-    import time
 
     env = HoleReacherEnv(5)
     env.reset()

fancy_gym/envs/classic_control/hole_reacher/mp_wrapper.py

@@ -2,7 +2,7 @@ from typing import Tuple, Union
 
 import numpy as np
 
-from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
+from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):

fancy_gym/envs/classic_control/simple_reacher/mp_wrapper.py

@@ -2,7 +2,7 @@ from typing import Tuple, Union
 
 import numpy as np
 
-from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
+from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):

fancy_gym/envs/classic_control/simple_reacher/simple_reacher.py

@@ -5,7 +5,7 @@ import numpy as np
 from gym import spaces
 from gym.core import ObsType
 
-from alr_envs.envs.classic_control.base_reacher.base_reacher_torque import BaseReacherTorqueEnv
+from fancy_gym.envs.classic_control.base_reacher.base_reacher_torque import BaseReacherTorqueEnv
 
 
 class SimpleReacherEnv(BaseReacherTorqueEnv):

fancy_gym/envs/classic_control/utils.py

@@ -1,6 +1,3 @@
-import numpy as np
-
-
 def ccw(A, B, C):
     return (C[1] - A[1]) * (B[0] - A[0]) - (B[1] - A[1]) * (C[0] - A[0]) > 1e-12
 

fancy_gym/envs/classic_control/viapoint_reacher/mp_wrapper.py

@@ -2,7 +2,7 @@ from typing import Tuple, Union
 
 import numpy as np
 
-from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
+from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):

fancy_gym/envs/classic_control/viapoint_reacher/viapoint_reacher.py

@@ -4,9 +4,8 @@ import gym
 import matplotlib.pyplot as plt
 import numpy as np
 from gym.core import ObsType
-from gym.utils import seeding
 
-from alr_envs.envs.classic_control.base_reacher.base_reacher_direct import BaseReacherDirectEnv
+from fancy_gym.envs.classic_control.base_reacher.base_reacher_direct import BaseReacherDirectEnv
 
 
 class ViaPointReacherEnv(BaseReacherDirectEnv):
@@ -187,7 +186,6 @@ class ViaPointReacherEnv(BaseReacherDirectEnv):
 
 
 if __name__ == "__main__":
-    import time
 
     env = ViaPointReacherEnv(5)
     env.reset()

fancy_gym/envs/mujoco/__init__.py

@@ -1,9 +1,9 @@
-from .beerpong.beerpong import BeerPongEnv, BeerPongEnvFixedReleaseStep, BeerPongEnvStepBasedEpisodicReward
 from .ant_jump.ant_jump import AntJumpEnv
+from .beerpong.beerpong import BeerPongEnv, BeerPongEnvFixedReleaseStep, BeerPongEnvStepBasedEpisodicReward
 from .half_cheetah_jump.half_cheetah_jump import HalfCheetahJumpEnv
+from .hopper_jump.hopper_jump import HopperJumpEnv
 from .hopper_jump.hopper_jump_on_box import HopperJumpOnBoxEnv
 from .hopper_throw.hopper_throw import HopperThrowEnv
 from .hopper_throw.hopper_throw_in_basket import HopperThrowInBasketEnv
 from .reacher.reacher import ReacherEnv
 from .walker_2d_jump.walker_2d_jump import Walker2dJumpEnv
-from .hopper_jump.hopper_jump import HopperJumpEnv

fancy_gym/envs/mujoco/ant_jump/ant_jump.py

@@ -17,7 +17,7 @@ class AntJumpEnv(AntEnv):
     """
     Initialization changes to normal Ant:
     - healthy_reward: 1.0 -> 0.01 -> 0.0 no healthy reward needed - Paul and Marc
-    - ctrl_cost_weight 0.5 -> 0.0
+    - _ctrl_cost_weight 0.5 -> 0.0
     - contact_cost_weight: 5e-4 -> 0.0
     - healthy_z_range: (0.2, 1.0) -> (0.3, float('inf'))  !!!!! Does that make sense, limiting height?
     """

fancy_gym/envs/mujoco/ant_jump/mp_wrapper.py

@@ -2,7 +2,7 @@ from typing import Union, Tuple
 
 import numpy as np
 
-from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
+from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):