90 lines
2.6 KiB
Python
90 lines
2.6 KiB
Python
from copy import deepcopy
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from ..envs.registry import register, upgrade
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from . import mujoco
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from .deprecated_needs_gym_robotics import robotics
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upgrade(
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id='Reacher-v2',
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mp_wrapper=mujoco.reacher_v2.MPWrapper,
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add_mp_types=['ProMP'],
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)
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"""
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The Fetch environments are not supported by gym anymore. A new repository (gym_robotics) is supporting the environments.
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However, the usage and so on needs to be checked
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register(
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id='FetchSlideDenseProMP-v1',
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entry_point='fancy_gym.utils.make_env_helpers:make_promp_env_helper',
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kwargs={
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"name": "gym.envs.robotics:FetchSlideDense-v1",
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"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
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"traj_gen_kwargs": {
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"num_dof": 4,
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"num_basis": 5,
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"duration": 2,
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"post_traj_time": 0,
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"zero_start": True,
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"policy_type": "position"
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}
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}
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)
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ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchSlideDenseProMP-v1")
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register(
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id='FetchSlideProMP-v1',
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entry_point='fancy_gym.utils.make_env_helpers:make_promp_env_helper',
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kwargs={
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"name": "gym.envs.robotics:FetchSlide-v1",
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"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
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"traj_gen_kwargs": {
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"num_dof": 4,
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"num_basis": 5,
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"duration": 2,
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"post_traj_time": 0,
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"zero_start": True,
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"policy_type": "position"
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}
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}
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)
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ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchSlideProMP-v1")
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register(
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id='FetchReachDenseProMP-v1',
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entry_point='fancy_gym.utils.make_env_helpers:make_promp_env_helper',
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kwargs={
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"name": "gym.envs.robotics:FetchReachDense-v1",
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"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
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"traj_gen_kwargs": {
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"num_dof": 4,
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"num_basis": 5,
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"duration": 2,
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"post_traj_time": 0,
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"zero_start": True,
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"policy_type": "position"
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}
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}
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)
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ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchReachDenseProMP-v1")
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register(
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id='FetchReachProMP-v1',
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entry_point='fancy_gym.utils.make_env_helpers:make_promp_env_helper',
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kwargs={
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"name": "gym.envs.robotics:FetchReach-v1",
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"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
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"traj_gen_kwargs": {
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"num_dof": 4,
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"num_basis": 5,
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"duration": 2,
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"post_traj_time": 0,
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"zero_start": True,
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"policy_type": "position"
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}
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}
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)
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ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchReachProMP-v1")
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"""
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