add gymnasium

robohive/envs/env_base.py

@@ -275,7 +275,7 @@ def forward(self, **kwargs):
         terminal = done
         return obs, reward, terminal, False, info
 
-    @implement_for("gymnasium", "0.24", None)
+    @implement_for("gymnasium")
     def forward(self, **kwargs):
         obs, reward, done, info = self._forward(**kwargs)
         terminal = done
@@ -505,6 +505,9 @@ def _reset(self, reset_qpos=None, reset_qvel=None, **kwargs):
     def reset(self, reset_qpos=None, reset_qvel=None, **kwargs):
         return self._reset(reset_qpos=reset_qpos, reset_qvel=reset_qvel, **kwargs)
     @implement_for("gym", "0.26", None)
+    def reset(self, reset_qpos=None, reset_qvel=None, **kwargs):
+        return self._reset(reset_qpos=reset_qpos, reset_qvel=reset_qvel, **kwargs), {}
+    @implement_for("gymnasium")
     def reset(self, reset_qpos=None, reset_qvel=None, **kwargs):
         return self._reset(reset_qpos=reset_qpos, reset_qvel=reset_qvel, **kwargs), {}
 

robohive/envs/env_variants.py

@@ -17,9 +17,15 @@
 @implement_for("gym", None, "0.24")
 def gym_registry_specs():
     return gym.envs.registry.env_specs
+
 @implement_for("gym", "0.24", None)
 def gym_registry_specs():
     return gym.envs.registry
+
+@implement_for("gymnasium")
+def gym_registry_specs():
+    return gym.envs.registry
+
 # TODO: move to within the function?
 @implement_for("gym", None, "0.24")
 def _update_env_spec_kwarg(env_variant_specs, variants, override_keys):
@@ -30,13 +36,23 @@ def _update_env_spec_kwarg(env_variant_specs, variants, override_keys):
     env_variant_specs.kwargs, variants_update_keyval_str = update_dict(env_variant_specs.kwargs, variants, override_keys=override_keys)
     return variants_update_keyval_str
 
+@implement_for("gymnasium")
+def _update_env_spec_kwarg(env_variant_specs, variants, override_keys):
+    env_variant_specs.kwargs, variants_update_keyval_str = update_dict(env_variant_specs.kwargs, variants, override_keys=override_keys)
+    return variants_update_keyval_str
+
 @implement_for("gym", None, "0.24")
 def _entry_point(env_variant_specs):
     return env_variant_specs._entry_point
 
 @implement_for("gym", "0.24", None)
 def _entry_point(env_variant_specs):
     return env_variant_specs.entry_point
+
+@implement_for("gymnasium")
+def _entry_point(env_variant_specs):
+    return env_variant_specs.entry_point
+
 @implement_for("gym", None, "0.24")
 def _kwargs(env_variant_specs):
     return env_variant_specs._kwargs
@@ -45,6 +61,10 @@ def _kwargs(env_variant_specs):
 def _kwargs(env_variant_specs):
     return env_variant_specs.kwargs
 
+@implement_for("gymnasium")
+def _kwargs(env_variant_specs):
+    return env_variant_specs.kwargs
+
 # Update base_dict using update_dict
 def update_dict(base_dict:dict, update_dict:dict, override_keys:list=None):
     """