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Forgot to port gym_Reacher over

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Dominik Moritz Roth 2023-09-17 19:05:08 +02:00
parent 7f58093c5e
commit a76967a498
1 changed files with 6 additions and 35 deletions
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41
fancy_gym/open_ai/__init__.py
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@ -1,45 +1,16 @@
from copy import deepcopy
from gymnasium import register
from ..envs.registry import register, upgrade
from . import mujoco
from .deprecated_needs_gym_robotics import robotics
ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
DEFAULT_BB_DICT_ProMP = {
"name": 'EnvName',
"wrappers": [],
"trajectory_generator_kwargs": {
'trajectory_generator_type': 'promp'
},
"phase_generator_kwargs": {
'phase_generator_type': 'linear'
},
"controller_kwargs": {
'controller_type': 'motor',
"p_gains": 1.0,
"d_gains": 0.1,
},
"basis_generator_kwargs": {
'basis_generator_type': 'zero_rbf',
'num_basis': 5,
'num_basis_zero_start': 1
}
}
kwargs_dict_reacher_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
kwargs_dict_reacher_promp['controller_kwargs']['p_gains'] = 0.6
kwargs_dict_reacher_promp['controller_kwargs']['d_gains'] = 0.075
kwargs_dict_reacher_promp['basis_generator_kwargs']['num_basis'] = 6
kwargs_dict_reacher_promp['name'] = "Reacher-v2"
kwargs_dict_reacher_promp['wrappers'].append(mujoco.reacher_v2.MPWrapper)
register(
id='ReacherProMP-v2',
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_reacher_promp
upgrade(
id='Reacher-v2',
mp_wrapper=mujoco.reacher_v2.MPWrapper,
add_mp_types=['ProMP'],
)
ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ReacherProMP-v2")
"""
The Fetch environments are not supported by gym anymore. A new repository (gym_robotics) is supporting the environments.
However, the usage and so on needs to be checked