Hello!

I would like to ask what do the observations in environments mean specifically? I'm especially interested in 'HandReach-v0' and there are 63 observables, however I could not find and information about their meaning.

For example, the observations for OpenAI Gym are described here: https://github.com/openai/gym/wiki/CartPole-v0

This PR makes the following changes:

• Add new mujoco (v2.2.2) python bindings to latest version of the environments. Versions of environments that depend on mujoco_py have been kept.
• Update environments to gym v0.26 API (step, render, reset)
• Add pre-commit tests: black, pyright, pyupgrade, isort
• Fixed py.Docker and tests for new environments
• Rename Hand Touch Sensor environments to distinguish between Boolean Touch Sensor and Continuous Touch Sensor
• Update README.md
• Add utils for mujoco bindings and mujoco_py under utils/mujoco_py_utils.py and utils/mujoco_utils.py
• Add compute_terminated and compute_truncated utility methods to GoalEnv as suggested by #16

The new versions of the environments that depend on mujoco bindings were validated with respect to the old versions of mujoco_py. The benchmark was performed using TQC + HER (sb3 implementation) with the same hyperparameters for both environment versions. The results can be seen here: https://wandb.ai/rodrigodelazcano/gym_robotics/reports/Benchmark-Gym-Robotics-SB3--VmlldzoyMjc3Mzkw

Since mujoco_py is no longer maintained, and gym has also already updated its other mujoco envs to use deepmind's python bindings, gym-robotics needs to be updated as well.

Describe the bug After pip install gym (version 0.22.0), pip install gym-robotics leads to the following error:

Packages installed from PyPI cannot depend on packages which are not also hosted on PyPI.

And when installing directly gym-robotics with pip (without a prior installation of gym): pip install gym-robotics, the import of gym_robotics returns the following error:

File "<stdin>", line 1, in <module>
  File "/home/perrin/.conda/envs/p3/lib/python3.7/site-packages/gym_robotics/__init__.py", line 1, in <module>
    from gym.envs.registration import register
  File "/home/perrin/.conda/envs/p3/lib/python3.7/site-packages/gym/__init__.py", line 12, in <module>
    from gym.envs import make, spec, register
  File "/home/perrin/.conda/envs/p3/lib/python3.7/site-packages/gym/envs/__init__.py", line 10, in <module>
    _load_env_plugins()
  File "/home/perrin/.conda/envs/p3/lib/python3.7/site-packages/gym/envs/registration.py", line 725, in load_env_plugins
    fn = plugin.load()
  File "/home/perrin/.conda/envs/p3/lib/python3.7/site-packages/importlib_metadata/__init__.py", line 196, in load
    return functools.reduce(getattr, attrs, module)
AttributeError: module 'gym_robotics' has no attribute 'register_robotics_envs'

System Info Ubuntu 22.04 Tested with Python 3.7.7 and 3.9.9

There are issues with importing gymnasium_robotics/__init__.py twice

$ pip list | grep gym           
gymnasium                     0.27.0

when you import gymansium_robotics it appers that /__init__.py is called twice

Git version

~/Gymnasium-Robotics]$ git pull           
Already up to date

~/Gymnasium-Robotics]$ pip install . && py
Defaulting to user installation because normal site-packages is not writeable
Processing /home/master-andreas/Gymnasium-Robotics
  Installing build dependencies ... done
  Getting requirements to build wheel ... done
  Installing backend dependencies ... done
  Preparing metadata (pyproject.toml) ... done
Requirement already satisfied: numpy<1.24.0,>=1.21.0 in /usr/lib/python3.10/site-packages (from gymnasium-robotics==1.1.0) (1.23.5)
Requirement already satisfied: mujoco>=2.3.1.post1 in /home/master-andreas/.local/lib/python3/site-packages (from gymnasium-robotics==1.1.0) (2.3.1.post1)
Requirement already satisfied: gymnasium>=0.26 in /home/master-andreas/.local/lib/python3/site-packages (from gymnasium-robotics==1.1.0) (0.27.0)
Requirement already satisfied: jax-jumpy>=0.2.0 in /home/master-andreas/.local/lib/python3/site-packages (from gymnasium>=0.26->gymnasium-robotics==1.1.0) (0.2.0)
Requirement already satisfied: typing-extensions>=4.3.0 in /usr/lib/python3.10/site-packages (from gymnasium>=0.26->gymnasium-robotics==1.1.0) (4.4.0)
Requirement already satisfied: shimmy<1.0,>=0.1.0 in /home/master-andreas/.local/lib/python3/site-packages (from gymnasium>=0.26->gymnasium-robotics==1.1.0) (0.2.0)
Requirement already satisfied: cloudpickle>=1.2.0 in /home/master-andreas/.local/lib/python3/site-packages (from gymnasium>=0.26->gymnasium-robotics==1.1.0) (2.2.0)
Requirement already satisfied: gymnasium-notices>=0.0.1 in /home/master-andreas/.local/lib/python3/site-packages (from gymnasium>=0.26->gymnasium-robotics==1.1.0) (0.0.1)
Requirement already satisfied: glfw in /home/master-andreas/.local/lib/python3/site-packages (from mujoco>=2.3.1.post1->gymnasium-robotics==1.1.0) (2.5.5)
Requirement already satisfied: absl-py in /home/master-andreas/.local/lib/python3/site-packages (from mujoco>=2.3.1.post1->gymnasium-robotics==1.1.0) (1.3.0)
Requirement already satisfied: pyopengl in /home/master-andreas/.local/lib/python3/site-packages (from mujoco>=2.3.1.post1->gymnasium-robotics==1.1.0) (3.1.6)
Building wheels for collected packages: gymnasium-robotics
  Building wheel for gymnasium-robotics (pyproject.toml) ... done
  Created wheel for gymnasium-robotics: filename=gymnasium_robotics-1.1.0-py3-none-any.whl size=1485120 sha256=79a9063e315f99716b0f7ff51ba6ceb5e7d82534aea3f4b88936593645b42db1
  Stored in directory: /home/master-andreas/.cache/pip/wheels/fb/22/bd/db3af103b5ded132ca76abe0558b08910f496de990b605d1d8
Successfully built gymnasium-robotics
Installing collected packages: gymnasium-robotics
  Attempting uninstall: gymnasium-robotics
    Found existing installation: gymnasium-robotics 1.1.0
    Uninstalling gymnasium-robotics-1.1.0:
      Successfully uninstalled gymnasium-robotics-1.1.0
Successfully installed gymnasium-robotics-1.1.0
Python 3.10.8 (main, Nov  1 2022, 14:18:21) [GCC 12.2.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import gymnasium_robotics
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchSlide-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchSlide-v2 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchPickAndPlace-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchPickAndPlace-v2 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchReach-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchReach-v2 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchReach-v3 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchPush-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchPush-v2 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandReach-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandReach-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateZ-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateZ-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateZ_BooleanTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateZ_BooleanTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateZ_ContinuousTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateZ_ContinuousTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateParallel-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateParallel-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateParallel_BooleanTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateParallel_BooleanTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateParallel_ContinuousTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateParallel_ContinuousTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateXYZ-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateXYZ-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateXYZ_BooleanTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateXYZ_BooleanTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateXYZ_ContinuousTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateXYZ_ContinuousTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockFull-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockFull-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlock-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlock-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlock_BooleanTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlock_BooleanTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlock_ContinuousTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlock_ContinuousTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggRotate-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggRotate-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggRotate_BooleanTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggRotate_BooleanTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggRotate_ContinuousTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggRotate_ContinuousTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggFull-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggFull-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEgg-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEgg-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEgg_BooleanTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEgg_BooleanTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEgg_ContinuousTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEgg_ContinuousTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenRotate-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenRotate-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenRotate_BooleanTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenRotate_BooleanTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenRotate_ContinuousTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenRotate_ContinuousTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenFull-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenFull-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePen-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePen-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePen_BooleanTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePen_BooleanTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePen_ContinuousTouchSensors-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePen_ContinuousTouchSensors-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchSlideDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchSlideDense-v2 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchPickAndPlaceDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchPickAndPlaceDense-v2 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchReachDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchReachDense-v2 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchReachDense-v3 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchPushDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment FetchPushDense-v2 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandReachDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandReachDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateZDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateZDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateZ_BooleanTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateZ_BooleanTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateZ_ContinuousTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateZ_ContinuousTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateParallelDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateParallelDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateParallel_BooleanTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateParallel_BooleanTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateParallel_ContinuousTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateParallel_ContinuousTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateXYZDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateXYZDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateXYZ_BooleanTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateXYZ_BooleanTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateXYZ_ContinuousTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockRotateXYZ_ContinuousTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockFullDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockFullDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlockDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlock_BooleanTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlock_BooleanTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlock_ContinuousTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateBlock_ContinuousTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggRotateDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggRotateDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggRotate_BooleanTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggRotate_BooleanTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggRotate_ContinuousTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggRotate_ContinuousTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggFullDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggFullDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEggDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEgg_BooleanTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEgg_BooleanTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEgg_ContinuousTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulateEgg_ContinuousTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenRotateDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenRotateDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenRotate_BooleanTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenRotate_BooleanTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenRotate_ContinuousTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenRotate_ContinuousTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenFullDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenFullDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePenDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePen_BooleanTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePen_BooleanTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePen_ContinuousTouchSensorsDense-v0 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py:520: UserWarning: WARN: Overriding environment HandManipulatePen_ContinuousTouchSensorsDense-v1 already in registry.
  logger.warn(f"Overriding environment {new_spec.id} already in registry.")
>>> 

pip version

...
$ pip uninstall gymnasium_robotics
...
$ pip install gymnasium_robotics  
...
[[email protected] ~]$ py                            
Python 3.10.8 (main, Nov  1 2022, 14:18:21) [GCC 12.2.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import gymnasium_robotics
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium_robotics/__init__.py", line 1, in <module>
    from gymnasium.envs.registration import register
  File "/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/__init__.py", line 12, in <module>
    from gymnasium.envs.registration import make, spec, register, registry, pprint_registry
  File "/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/__init__.py", line 352, in <module>
    load_env_plugins()
  File "/home/master-andreas/.local/lib/python3.10/site-packages/gymnasium/envs/registration.py", line 309, in load_env_plugins
    fn = plugin.load()
  File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 173, in load
    return functools.reduce(getattr, attrs, module)
AttributeError: partially initialized module 'gymnasium_robotics' has no attribute 'register_robotics_envs' (most likely due to a circular import)
>>> 

Describe the bug Getting user warning UserWarning: WARN: Overriding environment HandManipulateBlockRotateZ-v1 already in registry. when importing Gym. Code example

System Info Describe the characteristic of your environment: gym 0.26 python 3.10 windows

• Python version

Checklist

Updating the init file will fix it.

Question

Hi, how do I initialize a gymnasium-robotics environment such that it is compatible with stable-baselines3. E.g., I tried:

def make_env():
    env = gymnasium.make('FetchSlide-v2')
    return env
env = stable_baselines3.common.vec_env.DummyVecEnv([make_env])

which returns an error:

  File "/path/to/stable-baselines3/stable_baselines3/common/vec_env/util.py", line 68, in obs_space_info
    assert not hasattr(obs_space, "spaces"), f"Unsupported structured space '{type(obs_space)}'"
AssertionError: Unsupported structured space '<class 'gymnasium.spaces.dict.Dict'>'

I found this repo from Rodrigo de Lazcano: validate-mujoco-bindings-gym-robotics. However, it seems to use an older version of gymnasium-robotics (gym-robotics). I couldn't find any more recent examples or documentation.

Description

Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change.

Fixes # (issue)

Type of change

Please delete options that are not relevant.

• [ ] Bug fix (non-breaking change which fixes an issue)
• [ ] New feature (non-breaking change which adds functionality)
• [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
• [x] This change requires a documentation update

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist:

• [ ] I have run the pre-commit checks with pre-commit run --all-files (see CONTRIBUTING.md instructions to set it up)
• [ ] I have commented my code, particularly in hard-to-understand areas
• [x] I have made corresponding changes to the documentation
• [x] My changes generate no new warnings
• [ ] I have added tests that prove my fix is effective or that my feature works
• [ ] New and existing unit tests pass locally with my changes

Update the init.py to remove the warning of duplicated registration of the environment MujocoHandBlockEnv Note: Very Minor change no major impact.

Description

Gym throws a user warning of duplicated registration of the environment.

Fixes # (issue)

Just removed duplicated code

Please delete options that are not relevant.

• [ X] Bug fix (non-breaking change which fixes an issue)
• [ ] New feature (non-breaking change which adds functionality)
• [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
• [ ] This change requires a documentation update

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist:

• [ ] I have run the pre-commit checks with pre-commit run --all-files (see CONTRIBUTING.md instructions to set it up)
• [ ] I have commented my code, particularly in hard-to-understand areas
• [ ] I have made corresponding changes to the documentation
• [ ] My changes generate no new warnings
• [ ] I have added tests that prove my fix is effective or that my feature works
• [ ] New and existing unit tests pass locally with my changes

I believe this is not yet compatible with the latest gym (0.26.0)

I tried the following code with and without unwrapped, but render consistently returns None.

env = EnvCompatibility(gym.make("FetchReach-v1").unwrapped, render_mode="rgb_array")

Should we consider migrating to the new API if it's going to last?

Question

I want to change the distance_threshold value to improve the difficulty of the fetch task. Like handenv, I can use env = gym.make('HandReach-v0',distance_threshold=0.001), but env = gym.make('FetchReach-v1',distance_threshold=0.001) doesn't work. Then I try to use env.distance_threshold=0.001 to set the variable value, but the compute_reward function and the info['is_success'] returned by env.step function seem to use the default distance_threshold 0.05. So what should I do if I want to change the distance_threshold in fetch task?

Description

This adds a sparse reward variant to the adroit hand environments. The dense reward environment is unchanged, but to enable sparse reward on, for example, AdroitHandPen-v0, we can now do AdroitHandPenSparse-v0.

The sparse reward versions are intentionally very hard, and unlikely to work for status quo RL algorithms without prior heuristics.

Obligatory Nice.

[~/Gymnasium-Robotics]$ cd docs              
[~/Gymnasium-Robotics/docs]$ make dirhtml _build
Running Sphinx v5.2.3
loading pickled environment... done
myst v0.18.1: MdParserConfig(commonmark_only=False, gfm_only=False, enable_extensions=[], disable_syntax=[], all_links_external=False, url_schemes=('http', 'https', 'mailto', 'ftp'), ref_domains=None, highlight_code_blocks=True, number_code_blocks=[], title_to_header=False, heading_anchors=None, heading_slug_func=None, footnote_transition=True, words_per_minute=200, sub_delimiters=('{', '}'), linkify_fuzzy_links=True, dmath_allow_labels=True, dmath_allow_space=True, dmath_allow_digits=True, dmath_double_inline=False, update_mathjax=True, mathjax_classes='tex2jax_process|mathjax_process|math|output_area')
building [mo]: targets for 0 po files that are out of date
building [dirhtml]: targets for 0 source files that are out of date
updating environment: 0 added, 3 changed, 0 removed
reading sources... [100%] envs/hand_touch/index                                  
/home/master-andreas/Gymnasium-Robotics/docs/envs/fetch/index.md:6: WARNING: Document headings start at H2, not H1 [myst.header]
/home/master-andreas/Gymnasium-Robotics/docs/envs/fetch/index.md:15: CRITICAL: Problems with "raw" directive path:
InputError: [Errno 2] No such file or directory: 'envs/fetch/list.html'.
/home/master-andreas/Gymnasium-Robotics/docs/envs/fetch/index.md:19: WARNING: toctree contains reference to nonexisting document 'envs/fetch/FetchReach'
/home/master-andreas/Gymnasium-Robotics/docs/envs/fetch/index.md:19: WARNING: toctree contains reference to nonexisting document 'envs/fetch/FetchSlide'
/home/master-andreas/Gymnasium-Robotics/docs/envs/fetch/index.md:19: WARNING: toctree contains reference to nonexisting document 'envs/fetch/FetchPickAndPlace'
/home/master-andreas/Gymnasium-Robotics/docs/envs/fetch/index.md:19: WARNING: toctree contains reference to nonexisting document 'envs/fetch/FetchPush'
/home/master-andreas/Gymnasium-Robotics/docs/envs/hand/index.md:6: WARNING: Document headings start at H2, not H1 [myst.header]
/home/master-andreas/Gymnasium-Robotics/docs/envs/hand/index.md:15: CRITICAL: Problems with "raw" directive path:
InputError: [Errno 2] No such file or directory: 'envs/hand/list.html'.
/home/master-andreas/Gymnasium-Robotics/docs/envs/hand/index.md:19: WARNING: toctree contains reference to nonexisting document 'envs/hand/HandReach'
/home/master-andreas/Gymnasium-Robotics/docs/envs/hand/index.md:19: WARNING: toctree contains reference to nonexisting document 'envs/hand/HandBlock'
/home/master-andreas/Gymnasium-Robotics/docs/envs/hand/index.md:19: WARNING: toctree contains reference to nonexisting document 'envs/hand/HandEgg'
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Proposal

Up-to-date, re-runnable expert Minari datasets for offline learning.

Motivation

Minari is now at a stage where datasets can be made and uploaded for experimental use by others.

Pitch

• Have an expert policy perform 100k rollouts on each environment, save this buffer as a MinariDataset and upload it for public use.

Alternatives

If anyone thinks Minari needs to be improved before doing this, let me know.

Additional context

See https://github.com/Farama-Foundation/Minari/blob/main/tutorials/DatasetCreation/dataset_creation.py for an example of creating and uploading a MinariDataset.

Checklist

• [x] I have checked that there is no similar issue in the repo (required)

MaMuJoCo was first introduced in "FACMAC: Factored Multi-Agent Centralised Policy Gradients"

I consider this version of the code to be:

• ~~almost~~ feature complete

- bug free (at least I have written extensive tests)

• doc wise I was I written a bunch ( more is needed), ~~but I still not sure how the Docs should be structured, e.g. do we need 1 page per task, or 1 for the Gymnasium/MuJoCo Tasks and 1 per new task~~

~~requirements: (I have not added them to setup.py, because it is obvious to me, how it should be packaged, should it work with just pip install gymansium-robotics[MaMuJoCo] for example)~~

demo (feel free to try other scenarios/agent_configurations)

import numpy
from gymnasium_robotics import mamujoco_v0

if __name__ == "__main__":
    env = mamujoco_v0.parallel_env(scenario='Ant', agent_conf='2x4', agent_obsk=0, render_mode=None)
    # env = mamujoco_v0.parallel_env(scenario='Humanoid', agent_conf='9|8', agent_obsk=0, render_mode=None)
    # env = mamujoco_v0.parallel_env(scenario='Reacher', agent_conf='2x1', agent_obsk=1, render_mode=None)
    # env = mamujoco_v0.parallel_env(scenario='coupled_half_cheetah', agent_conf='1p1', agent_obsk=1, render_mode=None)
    # env = mamujoco_v0.parallel_env(scenario='Swimmer', agent_conf='2x1', agent_obsk=0, render_mode='human')
    # env = mamujoco_v0.parallel_env(scenario='manyagent_swimmer', agent_conf='2x1', agent_obsk=0, render_mode='human')
    # env = mamujoco_v0.parallel_env(scenario='coupled_half_cheetah', agent_conf='1p1', agent_obsk=0, render_mode='human')
    # env = mamujoco_v0.parallel_env(scenario='manyagent_swimmer', agent_conf='2x1', agent_obsk=0, render_mode='human')

    n_episodes = 1
    debug_step = 0

    for e in range(n_episodes):
        obs = env.reset()
        terminated = {'agent_0': False}
        truncated = {'agent_0': False}
        episode_reward = 0

        while not terminated['agent_0'] and not truncated['agent_0']:
            state = env.state()

            actions = {}
            for agent_id in env.agents:
                avail_actions = env.action_space(agent_id)
                action = numpy.random.uniform(avail_actions.low[0], avail_actions.high[0], avail_actions.shape[0])
                actions[str(agent_id)] = action

            obs, reward, terminated, truncated, info = env.step(actions)
            print(reward)
            episode_reward += reward['agent_0']

        print("Total reward in episode {} = {}".format(e, episode_reward))
    env.close()

Notes:

• The Environments are fully Deterministic
• ~~Does not include versioning (-v0) this will be added right before it is ready for inclusion in the project~~
• Tested only on x64 Linux py3.7, py3.8, py3.9, py3.10, py3.11 (I do not have option to test on MAC & ARM)
• Documentation is not complete, ~~I need some help with deciding the structure (Since there are effectively a lot of domains)~~
• Has passed Black, isort, flake8, (in pre-commit)
• ~~Not sure if it belongs in this repo, or it would be better as part of PettingZoo (your call)~~
• This is my first PR into a 'serious' repo, please feel free to dish out any criticism

TODO (not by me)

• add Apache license to the enviroment