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Fix safe environment exports and Gymnasium API #1

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Fix safe environment exports and Gymnasium API #1

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97a7bbf
fix: restore safe environments on Gymnasium
OtisMcLeary-123 Jul 11, 2026
c2c2bae
feat: restore BuildL environment on Gymnasium
OtisMcLeary-123 Jul 11, 2026
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134 changes: 24 additions & 110 deletions panda_gym/__init__.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,5 @@
"""Gymnasium registration for Panda and safety-aware Panda environments."""

import os

from gymnasium.envs.registration import register
Expand All @@ -6,124 +8,36 @@
__version__ = file_handler.read().strip()

ENV_IDS = []

for task in ["Reach", "Slide", "Push", "PickAndPlace", "Stack", "Flip",\
"ReachSafe", "PushSafe", "SlideSafe", "PickAndPlaceSafe", "StackSafe"\
"Stack3", "StackPyramid", "BuildL" ]:
for reward_type in ["sparse", "dense"]:
for control_type in ["ee", "joints"]:
TASKS = (
"Reach",
"Slide",
"Push",
"PickAndPlace",
"Stack",
"Flip",
"ReachSafe",
"PushSafe",
"SlideSafe",
"PickAndPlaceSafe",
"StackSafe",
"BuildL",
)

for task in TASKS:
for reward_type in ("sparse", "dense"):
for control_type in ("ee", "joints"):
reward_suffix = "Dense" if reward_type == "dense" else ""
control_suffix = "Joints" if control_type == "joints" else ""
env_id = f"Panda{task}{control_suffix}{reward_suffix}-v3"

register(
id=env_id,
entry_point=f"panda_gym.envs:Panda{task}Env",
kwargs={"reward_type": reward_type, "control_type": control_type},
max_episode_steps=100 if task == "Stack" else 50,
max_episode_steps=100
if task in {"Stack", "StackSafe", "BuildL"}
else 50,
)

ENV_IDS.append(env_id)



# register(
# id="PandaReachSafe{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaReachSafeEnv",
# kwargs=kwargs,
# max_episode_steps=50,
# )


# register(
# id="PandaPush{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaPushEnv",
# kwargs=kwargs,
# max_episode_steps=50,
# )

# register(
# id="PandaPushSafe{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaPushSafeEnv",
# kwargs=kwargs,
# max_episode_steps=50,
# )

# register(
# id="PandaSlide{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaSlideEnv",
# kwargs=kwargs,
# max_episode_steps=50,
# )

# register(
# id="PandaSlideSafe{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaSlideSafeEnv",
# kwargs=kwargs,
# max_episode_steps=50,
# )

# register(
# id="PandaPickAndPlace{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaPickAndPlaceEnv",
# kwargs=kwargs,
# max_episode_steps=50,
# )

# register(
# id="PandaPickAndPlaceSafe{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaPickAndPlaceSafeEnv",
# kwargs=kwargs,
# max_episode_steps=50,
# )

# register(
# id="PandaPickAndPlacePlatform{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaPickAndPlacePlatformEnv",
# kwargs=kwargs,
# max_episode_steps=50,
# )


# register(
# id="PandaStack{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaStackEnv",
# kwargs=kwargs,
# max_episode_steps=100,
# )

# register(
# id="PandaStackSafe{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaStackSafeEnv",
# kwargs=kwargs,
# max_episode_steps=100,
# )


# register(
# id="PandaStack3{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaStack3Env",
# kwargs=kwargs,
# max_episode_steps=100,
# )
# register(
# id="PandaStackPyramid{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaStackPyramidEnv",
# kwargs=kwargs,
# max_episode_steps=100,
# )

# register(
# id="PandaBuildL{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaBuildLEnv",
# kwargs=kwargs,
# max_episode_steps=100,
# )


# register(
# id="PandaFlip{}{}-v2".format(control_suffix, reward_suffix),
# entry_point="panda_gym.envs:PandaFlipEnv",
# kwargs=kwargs,
# max_episode_steps=50,
# )
__all__ = ["ENV_IDS", "TASKS", "__version__"]
40 changes: 21 additions & 19 deletions panda_gym/envs/__init__.py
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Original file line number Diff line number Diff line change
@@ -1,31 +1,33 @@
"""Environment exports used by Gymnasium entry points."""

from panda_gym.envs.panda_tasks import (
PandaFlipEnv,
PandaPickAndPlaceEnv,
PandaPushEnv,
PandaReachEnv,
PandaSlideEnv,
PandaStackEnv,

#new environments
PandaStack3Env,
PandaStackPyramidEnv,
PandaPickAndPlacePlatformEnv,

#safe environments
)
from panda_gym.envs.panda_tasks_safe import (
PandaPickAndPlaceSafeEnv,
PandaPushSafeEnv,
PandaReachSafeEnv,
PandaSlideSafeEnv,
PandaPickAndPlaceSafeEnv,
PandaStackSafeEnv
PandaStackSafeEnv,
)
from panda_gym.envs.panda_tasks_multi import PandaBuildLEnv

# from panda_gym.envs.panda_tasks.panda_pick_and_place_platform import PandaPickAndPlacePlatformEnv
# from panda_gym.envs.panda_tasks.panda_stack_pyramid import PandaStackPyramidEnv
#from panda_gym.envs.panda_tasks.panda_stack_3 import PandaStack3Env
#from panda_gym.envs.panda_tasks.panda_stack_pyramid import PandaStackPyramidEnv
#from panda_gym.envs.panda_tasks.panda_build_L import PandaBuildLEnv
# from panda_gym.envs.panda_tasks.panda_push_safe import PandaPushSafeEnv
# from panda_gym.envs.panda_tasks.panda_reach_safe import PandaReachSafeEnv
# from panda_gym.envs.panda_tasks.panda_slide_safe import PandaSlideSafeEnv
# from panda_gym.envs.panda_tasks.panda_pick_and_place_safe import PandaPickAndPlaceSafeEnv
# from panda_gym.envs.panda_tasks.panda_stack_safe import PandaStackSafeEnv
__all__ = [
"PandaFlipEnv",
"PandaPickAndPlaceEnv",
"PandaPushEnv",
"PandaReachEnv",
"PandaSlideEnv",
"PandaStackEnv",
"PandaPickAndPlaceSafeEnv",
"PandaPushSafeEnv",
"PandaReachSafeEnv",
"PandaSlideSafeEnv",
"PandaStackSafeEnv",
"PandaBuildLEnv",
]
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