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Kallinteris-AndreasKallinteris-Andreas
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Merge pull request #217 from Farama-Foundation/maze_v5
Add `AntMaze_*-v5` environments, featuring support for loading Third party robot models to Maze
2 parents b1acee9 + d28a719 commit b9ece07

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6 files changed

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‎gymnasium_robotics/__init__.py

Lines changed: 120 additions & 239 deletions
Original file line numberDiff line numberDiff line change
@@ -835,245 +835,126 @@ def _merge(a, b):
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# ----- AntMaze -----
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register(
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id=f"AntMaze_UMaze{suffix}-v3",
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entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
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kwargs=_merge(
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{
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"maze_map": maps.U_MAZE,
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},
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kwargs,
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),
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max_episode_steps=700,
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)
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register(
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id=f"AntMaze_UMaze{suffix}-v4",
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entry_point="gymnasium_robotics.envs.maze.ant_maze_v4:AntMazeEnv",
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kwargs=_merge(
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{
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"maze_map": maps.U_MAZE,
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},
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kwargs,
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),
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max_episode_steps=700,
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)
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register(
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id=f"AntMaze_Open{suffix}-v3",
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entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
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kwargs=_merge(
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{
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"maze_map": maps.OPEN,
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},
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kwargs,
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),
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max_episode_steps=700,
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)
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register(
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id=f"AntMaze_Open{suffix}-v4",
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entry_point="gymnasium_robotics.envs.maze.ant_maze_v4:AntMazeEnv",
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kwargs=_merge(
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{
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"maze_map": maps.OPEN,
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},
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kwargs,
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),
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max_episode_steps=700,
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)
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register(
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id=f"AntMaze_Open_Diverse_G{suffix}-v3",
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entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
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kwargs=_merge(
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{
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"maze_map": maps.OPEN_DIVERSE_G,
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},
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kwargs,
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),
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max_episode_steps=700,
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)
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register(
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id=f"AntMaze_Open_Diverse_G{suffix}-v4",
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entry_point="gymnasium_robotics.envs.maze.ant_maze_v4:AntMazeEnv",
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kwargs=_merge(
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{
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"maze_map": maps.OPEN_DIVERSE_G,
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},
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kwargs,
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),
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max_episode_steps=700,
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)
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register(
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id=f"AntMaze_Open_Diverse_GR{suffix}-v3",
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entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
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kwargs=_merge(
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{
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"maze_map": maps.OPEN_DIVERSE_GR,
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},
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kwargs,
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),
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max_episode_steps=700,
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)
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register(
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id=f"AntMaze_Open_Diverse_GR{suffix}-v4",
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entry_point="gymnasium_robotics.envs.maze.ant_maze_v4:AntMazeEnv",
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kwargs=_merge(
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{
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"maze_map": maps.OPEN_DIVERSE_GR,
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},
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kwargs,
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),
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max_episode_steps=700,
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)
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register(
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id=f"AntMaze_Medium{suffix}-v3",
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entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
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kwargs=_merge(
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{
939-
"maze_map": maps.MEDIUM_MAZE,
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},
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kwargs,
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),
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max_episode_steps=1000,
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)
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register(
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id=f"AntMaze_Medium{suffix}-v4",
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entry_point="gymnasium_robotics.envs.maze.ant_maze_v4:AntMazeEnv",
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kwargs=_merge(
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{
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"maze_map": maps.MEDIUM_MAZE,
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},
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kwargs,
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),
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max_episode_steps=1000,
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)
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register(
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id=f"AntMaze_Medium_Diverse_G{suffix}-v3",
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entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
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kwargs=_merge(
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{
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"maze_map": maps.MEDIUM_MAZE_DIVERSE_G,
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},
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kwargs,
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),
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max_episode_steps=1000,
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)
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register(
971-
id=f"AntMaze_Medium_Diverse_G{suffix}-v4",
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entry_point="gymnasium_robotics.envs.maze.ant_maze_v4:AntMazeEnv",
973-
kwargs=_merge(
974-
{
975-
"maze_map": maps.MEDIUM_MAZE_DIVERSE_G,
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},
977-
kwargs,
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),
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max_episode_steps=1000,
980-
)
981-
982-
register(
983-
id=f"AntMaze_Medium_Diverse_GR{suffix}-v3",
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entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
985-
kwargs=_merge(
986-
{
987-
"maze_map": maps.MEDIUM_MAZE_DIVERSE_GR,
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},
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kwargs,
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),
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max_episode_steps=1000,
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)
993-
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register(
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id=f"AntMaze_Medium_Diverse_GR{suffix}-v4",
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entry_point="gymnasium_robotics.envs.maze.ant_maze_v4:AntMazeEnv",
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kwargs=_merge(
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{
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"maze_map": maps.MEDIUM_MAZE_DIVERSE_GR,
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},
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kwargs,
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),
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max_episode_steps=1000,
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)
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register(
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id=f"AntMaze_Large{suffix}-v3",
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entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
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kwargs=_merge(
1010-
{
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"maze_map": maps.LARGE_MAZE,
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},
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kwargs,
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),
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max_episode_steps=1000,
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)
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register(
1019-
id=f"AntMaze_Large{suffix}-v4",
1020-
entry_point="gymnasium_robotics.envs.maze.ant_maze_v4:AntMazeEnv",
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kwargs=_merge(
1022-
{
1023-
"maze_map": maps.LARGE_MAZE,
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},
1025-
kwargs,
1026-
),
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max_episode_steps=1000,
1028-
)
1029-
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register(
1031-
id=f"AntMaze_Large_Diverse_G{suffix}-v3",
1032-
entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
1033-
kwargs=_merge(
1034-
{
1035-
"maze_map": maps.LARGE_MAZE_DIVERSE_G,
1036-
},
1037-
kwargs,
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),
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max_episode_steps=1000,
1040-
)
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register(
1043-
id=f"AntMaze_Large_Diverse_G{suffix}-v4",
1044-
entry_point="gymnasium_robotics.envs.maze.ant_maze_v4:AntMazeEnv",
1045-
kwargs=_merge(
1046-
{
1047-
"maze_map": maps.LARGE_MAZE_DIVERSE_G,
1048-
},
1049-
kwargs,
1050-
),
1051-
max_episode_steps=1000,
1052-
)
1053-
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register(
1055-
id=f"AntMaze_Large_Diverse_GR{suffix}-v3",
1056-
entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
1057-
kwargs=_merge(
1058-
{
1059-
"maze_map": maps.LARGE_MAZE_DIVERSE_GR,
1060-
},
1061-
kwargs,
1062-
),
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max_episode_steps=1000,
1064-
)
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1066-
register(
1067-
id=f"AntMaze_Large_Diverse_GR{suffix}-v4",
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entry_point="gymnasium_robotics.envs.maze.ant_maze_v4:AntMazeEnv",
1069-
kwargs=_merge(
1070-
{
1071-
"maze_map": maps.LARGE_MAZE_DIVERSE_GR,
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},
1073-
kwargs,
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),
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max_episode_steps=1000,
1076-
)
838+
for version in ["v3", "v4", "v5"]:
839+
register(
840+
id=f"AntMaze_UMaze{suffix}-{version}",
841+
entry_point=f"gymnasium_robotics.envs.maze.ant_maze_{version}:AntMazeEnv",
842+
kwargs=_merge(
843+
{
844+
"maze_map": maps.U_MAZE,
845+
},
846+
kwargs,
847+
),
848+
max_episode_steps=700,
849+
)
850+
851+
register(
852+
id=f"AntMaze_Open{suffix}-{version}",
853+
entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
854+
kwargs=_merge(
855+
{
856+
"maze_map": maps.OPEN,
857+
},
858+
kwargs,
859+
),
860+
max_episode_steps=700,
861+
)
862+
863+
register(
864+
id=f"AntMaze_Open_Diverse_G{suffix}-{version}",
865+
entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
866+
kwargs=_merge(
867+
{
868+
"maze_map": maps.OPEN_DIVERSE_G,
869+
},
870+
kwargs,
871+
),
872+
max_episode_steps=700,
873+
)
874+
875+
register(
876+
id=f"AntMaze_Open_Diverse_GR{suffix}-{version}",
877+
entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
878+
kwargs=_merge(
879+
{
880+
"maze_map": maps.OPEN_DIVERSE_GR,
881+
},
882+
kwargs,
883+
),
884+
max_episode_steps=700,
885+
)
886+
887+
register(
888+
id=f"AntMaze_Medium{suffix}-{version}",
889+
entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
890+
kwargs=_merge(
891+
{
892+
"maze_map": maps.MEDIUM_MAZE,
893+
},
894+
kwargs,
895+
),
896+
max_episode_steps=1000,
897+
)
898+
899+
register(
900+
id=f"AntMaze_Medium_Diverse_G{suffix}-{version}",
901+
entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
902+
kwargs=_merge(
903+
{
904+
"maze_map": maps.MEDIUM_MAZE_DIVERSE_G,
905+
},
906+
kwargs,
907+
),
908+
max_episode_steps=1000,
909+
)
910+
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register(
912+
id=f"AntMaze_Medium_Diverse_GR{suffix}-{version}",
913+
entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
914+
kwargs=_merge(
915+
{
916+
"maze_map": maps.MEDIUM_MAZE_DIVERSE_GR,
917+
},
918+
kwargs,
919+
),
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max_episode_steps=1000,
921+
)
922+
923+
register(
924+
id=f"AntMaze_Large{suffix}-{version}",
925+
entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
926+
kwargs=_merge(
927+
{
928+
"maze_map": maps.LARGE_MAZE,
929+
},
930+
kwargs,
931+
),
932+
max_episode_steps=1000,
933+
)
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935+
register(
936+
id=f"AntMaze_Large_Diverse_G{suffix}-{version}",
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entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
938+
kwargs=_merge(
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{
940+
"maze_map": maps.LARGE_MAZE_DIVERSE_G,
941+
},
942+
kwargs,
943+
),
944+
max_episode_steps=1000,
945+
)
946+
947+
register(
948+
id=f"AntMaze_Large_Diverse_GR{suffix}-{version}",
949+
entry_point="gymnasium_robotics.envs.maze.ant_maze:AntMazeEnv",
950+
kwargs=_merge(
951+
{
952+
"maze_map": maps.LARGE_MAZE_DIVERSE_GR,
953+
},
954+
kwargs,
955+
),
956+
max_episode_steps=1000,
957+
)
1077958

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# ----- PointMaze -----
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‎gymnasium_robotics/envs/maze/__init__.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,2 +1,2 @@
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from gymnasium_robotics.envs.maze.ant_maze import AntMazeEnv
1+
from gymnasium_robotics.envs.maze.ant_maze_v3 import AntMazeEnv
22
from gymnasium_robotics.envs.maze.point_maze import PointMazeEnv

‎gymnasium_robotics/envs/maze/ant_maze.py renamed to ‎gymnasium_robotics/envs/maze/ant_maze_v3.py

File renamed without changes.

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