diff --git a/.github/workflows/publish-to-pypi.yml b/.github/workflows/publish-to-pypi.yml
new file mode 100644
index 0000000..8eebbee
--- /dev/null
+++ b/.github/workflows/publish-to-pypi.yml
@@ -0,0 +1,52 @@
+name: Publish Python package to PyPI
+
+on:
+ push:
+ tags:
+ - '*'
+
+jobs:
+ publish:
+ name: Publish to PyPI
+ runs-on: ubuntu-latest
+ if: false && startsWith(github.ref, 'refs/tags/') # Only run on tagged commits
+
+ steps:
+ - name: Check out code
+ uses: actions/checkout@v4
+ with:
+ fetch-depth: 0 # This fetches all history for all branches and tags
+
+ - name: Verify tag is on master branch
+ run: |
+ TAG_IS_ON_MASTER=$(git branch -r --contains ${{ github.ref }} | grep 'origin/master')
+ if [ -z "$TAG_IS_ON_MASTER" ]; then
+ echo "Tag is not on the master branch. Cancelling the workflow."
+ exit 1
+ fi
+ echo "Tag is on the master branch. Proceeding with the workflow."
+
+ - name: Set up Python
+ uses: actions/setup-python@v4
+ with:
+ python-version: "3.x"
+
+ - name: Install pypa/build/setuptools/twine
+ run: >-
+ python3 -m
+ pip install
+ build setuptools twine
+ --user
+
+ - name: Prevent fallback onto setup.py
+ run: rm setup.py
+
+ - name: Build a binary wheel and a source tarball
+ run: python3 -m build
+
+ - name: Publish to PyPI
+ env:
+ TWINE_USERNAME: __token__
+ TWINE_PASSWORD: ${{ secrets.PYPI_TOKEN }}
+ run: twine upload dist/*
+
diff --git a/.github/workflows/publish-to-test-pypi.yml b/.github/workflows/publish-to-test-pypi.yml
new file mode 100644
index 0000000..64c1888
--- /dev/null
+++ b/.github/workflows/publish-to-test-pypi.yml
@@ -0,0 +1,52 @@
+name: Publish Python package to TestPyPI
+
+on:
+ push:
+ tags:
+ - '*'
+
+jobs:
+ publish:
+ name: Publish to TestPyPI
+ runs-on: ubuntu-latest
+ if: startsWith(github.ref, 'refs/tags/') # Only run on tagged commits
+
+ steps:
+ - name: Check out code
+ uses: actions/checkout@v4
+ with:
+ fetch-depth: 0 # This fetches all history for all branches and tags
+
+ - name: Verify tag is on master branch
+ run: |
+ TAG_IS_ON_MASTER=$(git branch -r --contains ${{ github.ref }} | grep 'origin/master')
+ if [ -z "$TAG_IS_ON_MASTER" ]; then
+ echo "Tag is not on the master branch. Cancelling the workflow."
+ exit 1
+ fi
+ echo "Tag is on the master branch. Proceeding with the workflow."
+
+ - name: Set up Python
+ uses: actions/setup-python@v4
+ with:
+ python-version: "3.x"
+
+ - name: Install pypa/build/setuptools/twine
+ run: >-
+ python3 -m
+ pip install
+ build setuptools twine
+ --user
+
+ - name: Prevent fallback onto setup.py
+ run: rm setup.py
+
+ - name: Build a binary wheel and a source tarball
+ run: python3 -m build
+
+ - name: Publish to TestPyPI
+ env:
+ TWINE_USERNAME: __token__
+ TWINE_PASSWORD: ${{ secrets.TEST_PYPI_TOKEN }}
+ run: twine upload --repository-url https://test.pypi.org/legacy/ dist/*
+
diff --git a/MANIFEST.in b/MANIFEST.in
new file mode 100644
index 0000000..b1b03cf
--- /dev/null
+++ b/MANIFEST.in
@@ -0,0 +1,14 @@
+# Include the README
+include README.md
+
+# Include the license, Code of Conduct and Contributing guidelines
+include LICENSE
+include CODE_OF_CONDUCT.md
+include CONTRIBUTING.md
+
+# Include stl and xml files from the fancy_gym/envs/mujoco directory
+recursive-include fancy_gym/envs/mujoco *.stl
+recursive-include fancy_gym/envs/mujoco *.xml
+
+# Also shipping the most important part of fancy gym
+include icon.svg
diff --git a/README.md b/README.md
index c457932..1c76595 100644
--- a/README.md
+++ b/README.md
@@ -1,12 +1,12 @@
- 
+ 
Fancy Gym
-| :exclamation: Fancy Gym has recently received a major refactor, which also updated many of the used dependencies to current versions. The update has brought some breaking changes. If you want to access the old version, check out the [legacy branch](https://github.com/ALRhub/fancy_gym/tree/legacy). Find out more about what changed [here](https://github.com/ALRhub/fancy_gym/pull/75). |
+| ❗ Fancy Gym has recently received a major refactor, which also updated many of the used dependencies to current versions. The update has brought some breaking changes. If you want to access the old version, check out the [legacy branch](https://github.com/ALRhub/fancy_gym/tree/legacy). Find out more about what changed [here](https://github.com/ALRhub/fancy_gym/pull/75). |
| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
Built upon the foundation of [Gymnasium](https://gymnasium.farama.org/) (a maintained fork of OpenAI’s renowned Gym library) `fancy_gym` offers a comprehensive collection of reinforcement learning environments.
@@ -33,40 +33,72 @@ While the overarching objective of MP environments remains the learning of an op
## Installation
-1. Clone the repository
+We recommend installing `fancy_gym` into a virtual environment as provided by [venv](https://docs.python.org/3/library/venv.html). 3rd party alternatives to venv like [Poetry](https://python-poetry.org/) or [Conda](https://docs.conda.io/en/latest/) can also be used.
+### Installation from PyPI (recommended)
+
+Install `fancy_gym` via
```bash
-git clone git@github.com:ALRhub/fancy_gym.git
-```
-
-2. Go to the folder
-
-```bash
-cd fancy_gym
-```
-
-3. Install with
-
-```bash
-pip install -e .
+pip install fancy_gym
```
We have a few optional dependencies. If you also want to install those use
```bash
-pip install -e '.[all]' # to install all optional dependencies
-pip install -e '.[dmc,metaworld,box2d,mujoco,mujoco-legacy,jax,testing]' # or choose only those you want
+# to install all optional dependencies
+pip install 'fancy_gym[all]'
+
+# or choose only those you want
+pip install 'fancy_gym[dmc,box2d,mujoco-legacy,jax,testing]'
+```
+
+Pip can not automatically install up-to-date versions of metaworld, since they are not avaible on PyPI yet.
+Install metaworld via
+
+```bash
+pip install metaworld@git+https://github.com/Farama-Foundation/Metaworld.git@d155d0051630bb365ea6a824e02c66c068947439#egg=metaworld
+```
+
+### Installation from master
+
+1. Clone the repository
+```bash
+git clone git@github.com:ALRhub/fancy_gym.git
+```
+
+2. Go to the folder
+```bash
+cd fancy_gym
+```
+
+3. Install with
+```bash
+pip install -e .
+```
+
+We have a few optional dependencies. If you also want to install those use
+```bash
+# to install all optional dependencies
+pip install -e '.[all]'
+
+# or choose only those you want
+pip install -e '.[dmc,box2d,mujoco-legacy,jax,testing]'
+```
+
+Metaworld has to be installed manually with
+```bash
+pip install metaworld@git+https://github.com/Farama-Foundation/Metaworld.git@d155d0051630bb365ea6a824e02c66c068947439#egg=metaworld
```
## How to use Fancy Gym
-We will only show the basics here and prepared [multiple examples](fancy_gym/examples/) for a more detailed look.
+We will only show the basics here and prepared [multiple examples](https://github.com/ALRhub/fancy_gym/tree/master/fancy_gym/examples/) for a more detailed look.
### Step-Based Environments
Regular step based environments added by Fancy Gym are added into the `fancy/` namespace.
-| :exclamation: Legacy versions of Fancy Gym used `fancy_gym.make(...)`. This is no longer supported and will raise an Exception on new versions. |
+| ❗ Legacy versions of Fancy Gym used `fancy_gym.make(...)`. This is no longer supported and will raise an Exception on new versions. |
| ----------------------------------------------------------------------------------------------------------------------------------------------- |
```python
@@ -165,7 +197,7 @@ print(fancy_gym.MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS[''])
### How to create a new MP task
In case a required task is not supported yet in the MP framework, it can be created relatively easy. For the task at
-hand, the following [interface](fancy_gym/black_box/raw_interface_wrapper.py) needs to be implemented.
+hand, the following [interface](https://github.com/ALRhub/fancy_gym/tree/master/fancy_gym/black_box/raw_interface_wrapper.py) needs to be implemented.
```python
from abc import abstractmethod
@@ -251,7 +283,7 @@ class RawInterfaceWrapper(gym.Wrapper):
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/).
+at the [examples](https://github.com/ALRhub/fancy_gym/tree/master/fancy_gym/examples/).
If the step-based is already registered with gym, you can simply do the following:
diff --git a/fancy_gym/__init__.py b/fancy_gym/__init__.py
index c3adaad..4c55a73 100644
--- a/fancy_gym/__init__.py
+++ b/fancy_gym/__init__.py
@@ -6,7 +6,10 @@ from .envs.registry import ALL_MOVEMENT_PRIMITIVE_ENVIRONMENTS, MOVEMENT_PRIMITI
ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS = MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS['dm_control']
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS = MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS['fancy']
-ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS = MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS['metaworld']
+if 'metaworld' in MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS:
+ ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS = MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS['metaworld']
+else:
+ ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS = 'Metaworld is not installed.'
ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS = MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS['gym']
diff --git a/fancy_gym/examples/examples_movement_primitives.py b/fancy_gym/examples/examples_movement_primitives.py
index fc43c63..c84cb22 100644
--- a/fancy_gym/examples/examples_movement_primitives.py
+++ b/fancy_gym/examples/examples_movement_primitives.py
@@ -16,7 +16,7 @@ def example_mp(env_name="fancy_ProMP/HoleReacher-v0", seed=1, iterations=1, rend
"""
# Equivalent to gym, we have a make function which can be used to create environments.
# It takes care of seeding and enables the use of a variety of external environments using the gym interface.
- env = gym.make(env_name)
+ env = gym.make(env_name, render_mode='human' if render else None)
returns = 0
# env.render(mode=None)
@@ -28,7 +28,7 @@ def example_mp(env_name="fancy_ProMP/HoleReacher-v0", seed=1, iterations=1, rend
if render and i % 1 == 0:
# This renders the full MP trajectory
# It is only required to call render() once in the beginning, which renders every consecutive trajectory.
- env.render(mode="human")
+ env.render()
# Now the action space is not the raw action but the parametrization of the trajectory generator,
# such as a ProMP
@@ -43,14 +43,19 @@ def example_mp(env_name="fancy_ProMP/HoleReacher-v0", seed=1, iterations=1, rend
if terminated or truncated:
print(reward)
obs = env.reset()
+ env.close()
def example_custom_mp(env_name="fancy_ProMP/Reacher5d-v0", seed=1, iterations=1, render=True):
"""
- Example for running a movement primitive based environment, which is already registered
+ Example for running a custom movement primitive based environments.
+ Our already registered environments follow the same structure.
+ Hence, this also allows to adjust hyperparameters of the movement primitives.
+ Yet, we recommend the method above if you are just interested in changing those parameters for existing tasks.
+ We appreciate PRs for custom environments (especially MP wrappers of existing tasks)
+ for our repo: https://github.com/ALRhub/fancy_gym/
Args:
- env_name: DMP env_id
- seed: seed for deterministic behaviour
+ seed: seed
iterations: Number of rollout steps to run
render: Render the episode
@@ -59,14 +64,14 @@ def example_custom_mp(env_name="fancy_ProMP/Reacher5d-v0", seed=1, iterations=1,
"""
# Changing the arguments of the black box env is possible by providing them to gym through mp_config_override.
# E.g. here for way to many basis functions
- env = gym.make(env_name, seed, mp_config_override={'basis_generator_kwargs': {'num_basis': 1000}})
+ env = gym.make(env_name, seed, mp_config_override={'basis_generator_kwargs': {'num_basis': 1000}}, render_mode='human' if render else None)
returns = 0
obs = env.reset()
# This time rendering every trajectory
if render:
- env.render(mode="human")
+ env.render()
# number of samples/full trajectories (multiple environment steps)
for i in range(iterations):
@@ -78,8 +83,47 @@ def example_custom_mp(env_name="fancy_ProMP/Reacher5d-v0", seed=1, iterations=1,
print(i, reward)
obs = env.reset()
+ env.close()
return obs
+class Custom_MPWrapper(fancy_gym.envs.mujoco.reacher.MPWrapper):
+ mp_config = {
+ 'ProMP': {
+ 'trajectory_generator_kwargs': {
+ 'trajectory_generator_type': 'promp',
+ 'weights_scale': 2
+ },
+ 'phase_generator_kwargs': {
+ 'phase_generator_type': 'linear'
+ },
+ 'controller_kwargs': {
+ 'controller_type': 'velocity'
+ },
+ 'basis_generator_kwargs': {
+ 'basis_generator_type': 'zero_rbf',
+ 'num_basis': 5,
+ 'num_basis_zero_start': 1
+ }
+ },
+ 'DMP': {
+ 'trajectory_generator_kwargs': {
+ 'trajectory_generator_type': 'dmp',
+ 'weights_scale': 500
+ },
+ 'phase_generator_kwargs': {
+ 'phase_generator_type': 'exp',
+ 'alpha_phase': 2.5
+ },
+ 'controller_kwargs': {
+ 'controller_type': 'velocity'
+ },
+ 'basis_generator_kwargs': {
+ 'basis_generator_type': 'rbf',
+ 'num_basis': 5
+ }
+ }
+ }
+
def example_fully_custom_mp(seed=1, iterations=1, render=True):
"""
@@ -99,38 +143,92 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
"""
base_env_id = "fancy/Reacher5d-v0"
+ custom_env_id = "fancy/Reacher5d-Custom-v0"
+ custom_env_id_DMP = "fancy_DMP/Reacher5d-Custom-v0"
+ custom_env_id_ProMP = "fancy_ProMP/Reacher5d-Custom-v0"
- # Replace this wrapper with the custom wrapper for your environment by inheriting from the RawInterfaceWrapper.
- # You can also add other gym.Wrappers in case they are needed.
- wrappers = [fancy_gym.envs.mujoco.reacher.MPWrapper]
+ fancy_gym.upgrade(custom_env_id, mp_wrapper=Custom_MPWrapper, add_mp_types=['ProMP', 'DMP'], base_id=base_env_id)
- # For a ProMP
- trajectory_generator_kwargs = {'trajectory_generator_type': 'promp',
- 'weights_scale': 2}
- phase_generator_kwargs = {'phase_generator_type': 'linear'}
- controller_kwargs = {'controller_type': 'velocity'}
- basis_generator_kwargs = {'basis_generator_type': 'zero_rbf',
- 'num_basis': 5,
- 'num_basis_zero_start': 1
- }
+ env = gym.make(custom_env_id_ProMP, render_mode='human' if render else None)
- # # For a DMP
- # trajectory_generator_kwargs = {'trajectory_generator_type': 'dmp',
- # 'weights_scale': 500}
- # phase_generator_kwargs = {'phase_generator_type': 'exp',
- # 'alpha_phase': 2.5}
- # controller_kwargs = {'controller_type': 'velocity'}
- # basis_generator_kwargs = {'basis_generator_type': 'rbf',
- # 'num_basis': 5
- # }
- base_env = gym.make(base_env_id)
- env = fancy_gym.make_bb(env=base_env, wrappers=wrappers, black_box_kwargs={},
- traj_gen_kwargs=trajectory_generator_kwargs, controller_kwargs=controller_kwargs,
- phase_kwargs=phase_generator_kwargs, basis_kwargs=basis_generator_kwargs,
- seed=seed)
+ rewards = 0
+ obs = env.reset()
if render:
- env.render(mode="human")
+ env.render()
+
+ # number of samples/full trajectories (multiple environment steps)
+ for i in range(iterations):
+ ac = env.action_space.sample()
+ obs, reward, terminated, truncated, info = env.step(ac)
+ rewards += reward
+
+ if terminated or truncated:
+ print(rewards)
+ rewards = 0
+ obs = env.reset()
+
+ try: # Some mujoco-based envs don't correlcty implement .close
+ env.close()
+ except:
+ pass
+
+
+def example_fully_custom_mp_alternative(seed=1, iterations=1, render=True):
+ """
+ Instead of defining the mp_args in a new custom MP_Wrapper, they can also be provided during registration.
+ Args:
+ seed: seed
+ iterations: Number of rollout steps to run
+ render: Render the episode
+
+ Returns:
+
+ """
+
+ base_env_id = "fancy/Reacher5d-v0"
+ custom_env_id = "fancy/Reacher5d-Custom-v0"
+ custom_env_id_ProMP = "fancy_ProMP/Reacher5d-Custom-v0"
+
+ fancy_gym.upgrade(custom_env_id, mp_wrapper=fancy_gym.envs.mujoco.reacher.MPWrapper, add_mp_types=['ProMP'], base_id=base_env_id, mp_config_override= {'ProMP': {
+ 'trajectory_generator_kwargs': {
+ 'trajectory_generator_type': 'promp',
+ 'weights_scale': 2
+ },
+ 'phase_generator_kwargs': {
+ 'phase_generator_type': 'linear'
+ },
+ 'controller_kwargs': {
+ 'controller_type': 'velocity'
+ },
+ 'basis_generator_kwargs': {
+ 'basis_generator_type': 'zero_rbf',
+ 'num_basis': 5,
+ 'num_basis_zero_start': 1
+ }
+ }})
+
+ env = gym.make(custom_env_id_ProMP, render_mode='human' if render else None)
+
+ rewards = 0
+ obs = env.reset()
+
+ if render:
+ env.render()
+
+ # number of samples/full trajectories (multiple environment steps)
+ for i in range(iterations):
+ ac = env.action_space.sample()
+ obs, reward, terminated, truncated, info = env.step(ac)
+ rewards += reward
+
+ if terminated or truncated:
+ print(rewards)
+ rewards = 0
+ obs = env.reset()
+
+ if render:
+ env.render()
rewards = 0
obs = env.reset()
@@ -146,7 +244,14 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
rewards = 0
obs = env.reset()
-def main(render = False):
+ try: # Some mujoco-based envs don't correlcty implement .close
+ env.close()
+ except:
+ pass
+
+
+def main():
+ render = False
# DMP
example_mp("fancy_DMP/HoleReacher-v0", seed=10, iterations=5, render=render)
@@ -165,6 +270,7 @@ def main(render = False):
# Custom MP
example_fully_custom_mp(seed=10, iterations=1, render=render)
+ example_fully_custom_mp_alternative(seed=10, iterations=1, render=render)
-if __name__ == '__main__':
- main()
\ No newline at end of file
+if __name__=='__main__':
+ main()
diff --git a/fancy_gym/meta/__init__.py b/fancy_gym/meta/__init__.py
index 78ec73c..6e95719 100644
--- a/fancy_gym/meta/__init__.py
+++ b/fancy_gym/meta/__init__.py
@@ -7,56 +7,63 @@ from ..envs.registry import register
from . import goal_object_change_mp_wrapper, goal_change_mp_wrapper, goal_endeffector_change_mp_wrapper, \
object_change_mp_wrapper
-from . import metaworld_adapter
+try:
+ import metaworld
+except ModuleNotFoundError:
+ print('[FANCY GYM] Metaworld not avaible.')
+else:
+ # Will only get executed, if import succeeds
-metaworld_adapter.register_all_ML1()
+ from . import metaworld_adapter
-ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
+ metaworld_adapter.register_all_ML1()
-# MetaWorld
-_goal_change_envs = ["assembly-v2", "pick-out-of-hole-v2", "plate-slide-v2", "plate-slide-back-v2",
- "plate-slide-side-v2", "plate-slide-back-side-v2"]
-for _task in _goal_change_envs:
- register(
- id=f'metaworld/{_task}',
- register_step_based=False,
- mp_wrapper=goal_change_mp_wrapper.MPWrapper,
- add_mp_types=['ProMP', 'ProDMP'],
- )
+ ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
-_object_change_envs = ["bin-picking-v2", "hammer-v2", "sweep-into-v2"]
-for _task in _object_change_envs:
- register(
- id=f'metaworld/{_task}',
- register_step_based=False,
- mp_wrapper=object_change_mp_wrapper.MPWrapper,
- add_mp_types=['ProMP', 'ProDMP'],
- )
+ # MetaWorld
+ _goal_change_envs = ["assembly-v2", "pick-out-of-hole-v2", "plate-slide-v2", "plate-slide-back-v2",
+ "plate-slide-side-v2", "plate-slide-back-side-v2"]
+ for _task in _goal_change_envs:
+ register(
+ id=f'metaworld/{_task}',
+ register_step_based=False,
+ mp_wrapper=goal_change_mp_wrapper.MPWrapper,
+ add_mp_types=['ProMP', 'ProDMP'],
+ )
-_goal_and_object_change_envs = ["box-close-v2", "button-press-v2", "button-press-wall-v2", "button-press-topdown-v2",
- "button-press-topdown-wall-v2", "coffee-button-v2", "coffee-pull-v2",
- "coffee-push-v2", "dial-turn-v2", "disassemble-v2", "door-close-v2",
- "door-lock-v2", "door-open-v2", "door-unlock-v2", "hand-insert-v2",
- "drawer-close-v2", "drawer-open-v2", "faucet-open-v2", "faucet-close-v2",
- "handle-press-side-v2", "handle-press-v2", "handle-pull-side-v2",
- "handle-pull-v2", "lever-pull-v2", "peg-insert-side-v2", "pick-place-wall-v2",
- "reach-v2", "push-back-v2", "push-v2", "pick-place-v2", "peg-unplug-side-v2",
- "soccer-v2", "stick-push-v2", "stick-pull-v2", "push-wall-v2", "reach-wall-v2",
- "shelf-place-v2", "sweep-v2", "window-open-v2", "window-close-v2"
- ]
-for _task in _goal_and_object_change_envs:
- register(
- id=f'metaworld/{_task}',
- register_step_based=False,
- mp_wrapper=goal_object_change_mp_wrapper.MPWrapper,
- add_mp_types=['ProMP', 'ProDMP'],
- )
+ _object_change_envs = ["bin-picking-v2", "hammer-v2", "sweep-into-v2"]
+ for _task in _object_change_envs:
+ register(
+ id=f'metaworld/{_task}',
+ register_step_based=False,
+ mp_wrapper=object_change_mp_wrapper.MPWrapper,
+ add_mp_types=['ProMP', 'ProDMP'],
+ )
-_goal_and_endeffector_change_envs = ["basketball-v2"]
-for _task in _goal_and_endeffector_change_envs:
- register(
- id=f'metaworld/{_task}',
- register_step_based=False,
- mp_wrapper=goal_endeffector_change_mp_wrapper.MPWrapper,
- add_mp_types=['ProMP', 'ProDMP'],
- )
+ _goal_and_object_change_envs = ["box-close-v2", "button-press-v2", "button-press-wall-v2", "button-press-topdown-v2",
+ "button-press-topdown-wall-v2", "coffee-button-v2", "coffee-pull-v2",
+ "coffee-push-v2", "dial-turn-v2", "disassemble-v2", "door-close-v2",
+ "door-lock-v2", "door-open-v2", "door-unlock-v2", "hand-insert-v2",
+ "drawer-close-v2", "drawer-open-v2", "faucet-open-v2", "faucet-close-v2",
+ "handle-press-side-v2", "handle-press-v2", "handle-pull-side-v2",
+ "handle-pull-v2", "lever-pull-v2", "peg-insert-side-v2", "pick-place-wall-v2",
+ "reach-v2", "push-back-v2", "push-v2", "pick-place-v2", "peg-unplug-side-v2",
+ "soccer-v2", "stick-push-v2", "stick-pull-v2", "push-wall-v2", "reach-wall-v2",
+ "shelf-place-v2", "sweep-v2", "window-open-v2", "window-close-v2"
+ ]
+ for _task in _goal_and_object_change_envs:
+ register(
+ id=f'metaworld/{_task}',
+ register_step_based=False,
+ mp_wrapper=goal_object_change_mp_wrapper.MPWrapper,
+ add_mp_types=['ProMP', 'ProDMP'],
+ )
+
+ _goal_and_endeffector_change_envs = ["basketball-v2"]
+ for _task in _goal_and_endeffector_change_envs:
+ register(
+ id=f'metaworld/{_task}',
+ register_step_based=False,
+ mp_wrapper=goal_endeffector_change_mp_wrapper.MPWrapper,
+ add_mp_types=['ProMP', 'ProDMP'],
+ )
\ No newline at end of file
diff --git a/fancy_gym/meta/metaworld_adapter.py b/fancy_gym/meta/metaworld_adapter.py
index 21dfed7..7853378 100644
--- a/fancy_gym/meta/metaworld_adapter.py
+++ b/fancy_gym/meta/metaworld_adapter.py
@@ -11,11 +11,7 @@ import numpy as np
from fancy_gym.utils.env_compatibility import EnvCompatibility
-try:
- import metaworld
-except Exception:
- print('[FANCY GYM] Metaworld not avaible')
-
+import metaworld
class FixMetaworldHasIncorrectObsSpaceWrapper(gym.Wrapper, gym.utils.RecordConstructorArgs):
def __init__(self, env: gym.Env):
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..acefa88
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,79 @@
+[project]
+name = "fancy_gym"
+version = "0.1.4"
+description = "Fancy Gym: Unifying interface for various RL benchmarks with support for Black Box approaches."
+readme = "README.md"
+authors = [
+ {name = "Fabian Otto", email = "fabian.otto@uni-tuebingen.de"},
+ {name = "Onur Celik", email = "celik@kit.edu"},
+ {name = "Dominik Roth", email = "fancy_gym@dominik-roth.eu"},
+ {name = "Hongyi Zhou", email = "hongyi.zhou@kit.edu"}
+]
+license = { text = "MIT License" }
+classifiers = [
+ "Development Status :: 4 - Beta",
+ "Intended Audience :: Science/Research",
+ "License :: OSI Approved :: MIT License",
+ "Natural Language :: English",
+ "Operating System :: OS Independent",
+ "Topic :: Scientific/Engineering :: Artificial Intelligence",
+ "Programming Language :: Python :: 3",
+ "Programming Language :: Python :: 3.7",
+ "Programming Language :: Python :: 3.8",
+ "Programming Language :: Python :: 3.9",
+ "Programming Language :: Python :: 3.10",
+ "Programming Language :: Python :: 3.11"
+]
+
+dependencies = [
+ "mp_pytorch<=0.1.3",
+ "mujoco==2.3.3",
+ "gymnasium[mujoco]>=0.26.0"
+]
+
+requires-python = ">=3.7"
+
+[project.urls]
+"Homepage" = "https://github.com/ALRhub/fancy_gym/"
+#"Documentation" = "https://github.com/ALRhub/fancy_gym/"
+"Bug Tracker" = "https://github.com/ALRhub/fancy_gym/issues"
+#"Repository" = "https://github.com/ALRhub/fancy_gym/"
+
+[build-system]
+requires = ["setuptools>=61.0.0", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project.optional-dependencies]
+dmc = ["shimmy[dm-control]", "Shimmy==1.0.0"]
+# PyPi does not allow external dependencies. Metaworld will have to be installed manually until Farama publishes up-to-date version of metaworld on PyPi.
+#metaworld = ["metaworld @ git+https://github.com/Farama-Foundation/Metaworld.git@d155d0051630bb365ea6a824e02c66c068947439#egg=metaworld"]
+box2d = ["gymnasium[box2d]>=0.26.0"]
+mujoco-legacy = ["mujoco-py>=2.1,<2.2", "cython<3"]
+jax = ["jax>=0.4.0", "jaxlib>=0.4.0"]
+
+all = [
+ # include all the optional dependencies
+ "shimmy[dm-control]",
+ "Shimmy==1.0.0",
+ #"metaworld @ git+https://github.com/Farama-Foundation/Metaworld.git@d155d0051630bb365ea6a824e02c66c068947439#egg=metaworld",
+ "mujoco==2.3.3",
+ "gymnasium[box2d,mujoco]>=0.26.0",
+ "mujoco-py>=2.1,<2.2",
+ "cython<3",
+ "jax>=0.4.0",
+ "jaxlib>=0.4.0"
+]
+
+testing = [
+ "pytest",
+ # include all the optional dependencies as well
+ "shimmy[dm-control]",
+ "Shimmy==1.0.0",
+ #"metaworld @ git+https://github.com/Farama-Foundation/Metaworld.git@d155d0051630bb365ea6a824e02c66c068947439#egg=metaworld",
+ "mujoco==2.3.3",
+ "gymnasium[box2d,mujoco]>=0.26.0",
+ "mujoco-py>=2.1,<2.2",
+ "cython<3",
+ "jax>=0.4.0",
+ "jaxlib>=0.4.0"
+]
diff --git a/setup.py b/setup.py
index 53ee8f1..2bd077d 100644
--- a/setup.py
+++ b/setup.py
@@ -1,15 +1,17 @@
+# We still provide a setup.py for backwards compatability.
+# But the pyproject.toml should be prefered.
import itertools
from pathlib import Path
from typing import List
from setuptools import setup, find_packages
+print('[!] You are currently installing/building fancy_gym via setup.py. This is only provided for backwards-compatability. Please use the pyproject.toml instead.')
+
# Environment-specific dependencies for dmc and metaworld
extras = {
'dmc': ['shimmy[dm-control]', 'Shimmy==1.0.0'],
- 'metaworld': ['mujoco==2.3.3', 'metaworld @ git+https://github.com/Farama-Foundation/Metaworld.git@d155d0051630bb365ea6a824e02c66c068947439#egg=metaworld'],
'box2d': ['gymnasium[box2d]>=0.26.0'],
- 'mujoco': ['mujoco==2.3.3', 'gymnasium[mujoco]>0.26.0'],
'mujoco-legacy': ['mujoco-py >=2.1,<2.2', 'cython<3'],
'jax': ["jax >=0.4.0", "jaxlib >=0.4.0"],
'mushroom-rl': ['mushroom-rl'],
@@ -36,7 +38,7 @@ def find_package_data(extensions_to_include: List[str]) -> List[str]:
setup(
author='Fabian Otto, Onur Celik, Dominik Roth, Hongyi Zhou',
name='fancy_gym',
- version='1.0',
+ version='0.1.0',
classifiers=[
'Development Status :: 4 - Beta',
'Intended Audience :: Science/Research',
@@ -49,11 +51,13 @@ setup(
'Programming Language :: Python :: 3.8',
'Programming Language :: Python :: 3.9',
'Programming Language :: Python :: 3.10',
+ 'Programming Language :: Python :: 3.11',
],
extras_require=extras,
install_requires=[
- 'gymnasium>=0.26.0',
- 'mp_pytorch<=0.1.3'
+ 'mp_pytorch<=0.1.3',
+ 'mujoco==2.3.3',
+ 'gymnasium[mujoco]>=0.26.0'
],
packages=[package for package in find_packages(
) if package.startswith("fancy_gym")],