Merge remote-tracking branch 'original/legacy' into HEAD

fancy_gym/dmc/__init__.py

@@ -1,10 +1,10 @@
+from gym.envs.registration import register
 from copy import deepcopy
 
 from . import manipulation, suite
 
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
 
-from gym.envs.registration import register
 
 DEFAULT_BB_DICT_ProMP = {
     "name": 'EnvName',
@@ -61,7 +61,7 @@ register(
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_ball_in_cup-catch_dmp-v0")
 
-kwargs_dict_bic_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_bic_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
 kwargs_dict_bic_promp['name'] = f"dmc:ball_in_cup-catch"
 kwargs_dict_bic_promp['wrappers'].append(suite.ball_in_cup.MPWrapper)
 register(
@@ -85,7 +85,7 @@ register(
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-easy_dmp-v0")
 
-kwargs_dict_reacher_easy_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_reacher_easy_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
 kwargs_dict_reacher_easy_promp['name'] = f"dmc:reacher-easy"
 kwargs_dict_reacher_easy_promp['wrappers'].append(suite.reacher.MPWrapper)
 kwargs_dict_reacher_easy_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
@@ -110,7 +110,7 @@ register(
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-hard_dmp-v0")
 
-kwargs_dict_reacher_hard_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_reacher_hard_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
 kwargs_dict_reacher_hard_promp['name'] = f"dmc:reacher-hard"
 kwargs_dict_reacher_hard_promp['wrappers'].append(suite.reacher.MPWrapper)
 kwargs_dict_reacher_hard_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
@@ -142,7 +142,7 @@ for _task in _dmc_cartpole_tasks:
     ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
 
     _env_id = f'dmc_cartpole-{_task}_promp-v0'
-    kwargs_dict_cartpole_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+    kwargs_dict_cartpole_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
     kwargs_dict_cartpole_promp['name'] = f"dmc:cartpole-{_task}"
     kwargs_dict_cartpole_promp['wrappers'].append(suite.cartpole.MPWrapper)
     kwargs_dict_cartpole_promp['controller_kwargs']['p_gains'] = 10
@@ -172,7 +172,7 @@ register(
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
 
-kwargs_dict_cartpole2poles_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_cartpole2poles_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
 kwargs_dict_cartpole2poles_promp['name'] = f"dmc:cartpole-two_poles"
 kwargs_dict_cartpole2poles_promp['wrappers'].append(suite.cartpole.TwoPolesMPWrapper)
 kwargs_dict_cartpole2poles_promp['controller_kwargs']['p_gains'] = 10
@@ -203,7 +203,7 @@ register(
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
 
-kwargs_dict_cartpole3poles_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_cartpole3poles_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
 kwargs_dict_cartpole3poles_promp['name'] = f"dmc:cartpole-three_poles"
 kwargs_dict_cartpole3poles_promp['wrappers'].append(suite.cartpole.ThreePolesMPWrapper)
 kwargs_dict_cartpole3poles_promp['controller_kwargs']['p_gains'] = 10
@@ -232,7 +232,7 @@ register(
 )
 ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_manipulation-reach_site_dmp-v0")
 
-kwargs_dict_mani_reach_site_features_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_mani_reach_site_features_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
 kwargs_dict_mani_reach_site_features_promp['name'] = f"dmc:manipulation-reach_site_features"
 kwargs_dict_mani_reach_site_features_promp['wrappers'].append(manipulation.reach_site.MPWrapper)
 kwargs_dict_mani_reach_site_features_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2