Package pusht

envs/sim_pusht/pusht/pusht_image_env.py

@@ -0,0 +1,41 @@
+import numpy as np
+from gymnasium import spaces
+
+from pusht.pusht_env import PushTEnv
+
+
+class PushTImageEnv(PushTEnv):
+    metadata = {"render.modes": ["rgb_array"], "video.frames_per_second": 10}
+
+    # Note: legacy defaults to True for compatibility with original
+    def __init__(self, legacy=True, block_cog=None, damping=None, render_size=96):
+        super().__init__(
+            legacy=legacy, block_cog=block_cog, damping=damping, render_size=render_size, render_action=False
+        )
+        ws = self.window_size
+        self.observation_space = spaces.Dict(
+            {
+                "image": spaces.Box(low=0, high=1, shape=(3, render_size, render_size), dtype=np.float32),
+                "agent_pos": spaces.Box(low=0, high=ws, shape=(2,), dtype=np.float32),
+            }
+        )
+        self.render_cache = None
+
+    def _get_obs(self):
+        img = super()._render_frame(mode="rgb_array")
+
+        agent_pos = np.array(self.agent.position)
+        img_obs = np.moveaxis(img, -1, 0)
+        obs = {"image": img_obs, "agent_pos": agent_pos}
+
+        self.render_cache = img
+
+        return obs
+
+    def render(self, mode):
+        assert mode == "rgb_array"
+
+        if self.render_cache is None:
+            self._get_obs()
+
+        return self.render_cache