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#!/usr/bin/env python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import gymnasium as gym
from gym_hil.mujoco_gym_env import FrankaGymEnv, GymRenderingSpec, MujocoGymEnv
from gym_hil.wrappers.factory import make_env, wrap_env
from gym_hil.wrappers.viewer_wrapper import PassiveViewerWrapper
__all__ = [
"MujocoGymEnv",
"FrankaGymEnv",
"GymRenderingSpec",
"PassiveViewerWrapper",
"make_env",
"wrap_env",
]
from gymnasium.envs.registration import register
# Register the base environment directly
register(
id="gym_hil/PandaPickCubeBase-v0", # This is the base environment
entry_point="gym_hil.envs:PandaPickCubeGymEnv",
max_episode_steps=100,
)
register(
id="gym_hil/PandaArrangeBoxesBase-v0", # This is the base environment
entry_point="gym_hil.envs:PandaArrangeBoxesGymEnv",
max_episode_steps=100,
)
# Register the viewer wrapper
register(
id="gym_hil/PandaPickCubeViewer-v0",
entry_point=lambda **kwargs: PassiveViewerWrapper(gym.make("gym_hil/PandaPickCubeBase-v0", **kwargs)),
max_episode_steps=100,
)
register(
id="gym_hil/PandaArrangeBoxesViewer-v0",
entry_point=lambda **kwargs: PassiveViewerWrapper(gym.make("gym_hil/PandaArrangeBoxesBase-v0", **kwargs)),
max_episode_steps=100,
)
# Register wrapped versions using the factory - NOTE: these now use PandaPickCubeBase-v0
register(
id="gym_hil/PandaPickCube-v0",
entry_point="gym_hil.wrappers.factory:make_env",
max_episode_steps=100,
kwargs={
"env_id": "gym_hil/PandaPickCubeBase-v0", # Use the base environment
},
)
register(
id="gym_hil/PandaPickCubeGamepad-v0",
entry_point="gym_hil.wrappers.factory:make_env",
max_episode_steps=100,
kwargs={
"env_id": "gym_hil/PandaPickCubeBase-v0", # Use the base environment
"use_viewer": True,
"use_gamepad": True,
},
)
register(
id="gym_hil/PandaPickCubeKeyboard-v0",
entry_point="gym_hil.wrappers.factory:make_env",
max_episode_steps=100,
kwargs={
"env_id": "gym_hil/PandaPickCubeBase-v0", # Use the base environment
"use_viewer": True,
"gripper_penalty": -0.05,
},
)
register(
id="gym_hil/PandaArrangeBoxes-v0",
entry_point="gym_hil.wrappers.factory:make_env",
max_episode_steps=100,
kwargs={
"env_id": "gym_hil/PandaArrangeBoxesBase-v0", # Use the base environment
},
)
register(
id="gym_hil/PandaArrangeBoxesGamepad-v0",
entry_point="gym_hil.wrappers.factory:make_env",
max_episode_steps=100,
kwargs={
"env_id": "gym_hil/PandaArrangeBoxesBase-v0", # Use the base environment
"use_viewer": True,
"use_gamepad": True,
},
)
register(
id="gym_hil/PandaArrangeBoxesKeyboard-v0",
entry_point="gym_hil.wrappers.factory:make_env",
max_episode_steps=100,
kwargs={"env_id": "gym_hil/PandaArrangeBoxesBase-v0", "use_viewer": True, "gripper_penalty": -0.05},
)
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