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Hardware API redesign (#777)

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Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>
This commit is contained in:
Simon Alibert
2025-06-05 17:48:43 +02:00
committed by GitHub
parent b536f47e3f
commit e23b41e79a
247 changed files with 14442 additions and 13550 deletions
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13
lerobot/common/envs/configs.py
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@@ -17,7 +17,7 @@ from dataclasses import dataclass, field
import draccus
from lerobot.common.constants import ACTION, OBS_ENV, OBS_IMAGE, OBS_IMAGES, OBS_ROBOT
from lerobot.common.constants import ACTION, OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
from lerobot.configs.types import FeatureType, PolicyFeature
@@ -32,7 +32,8 @@ class EnvConfig(draccus.ChoiceRegistry, abc.ABC):
def type(self) -> str:
return self.get_choice_name(self.__class__)
@abc.abstractproperty
@property
@abc.abstractmethod
def gym_kwargs(self) -> dict:
raise NotImplementedError()
@@ -53,7 +54,7 @@ class AlohaEnv(EnvConfig):
features_map: dict[str, str] = field(
default_factory=lambda: {
"action": ACTION,
"agent_pos": OBS_ROBOT,
"agent_pos": OBS_STATE,
"top": f"{OBS_IMAGE}.top",
"pixels/top": f"{OBS_IMAGES}.top",
}
@@ -94,8 +95,8 @@ class PushtEnv(EnvConfig):
features_map: dict[str, str] = field(
default_factory=lambda: {
"action": ACTION,
"agent_pos": OBS_ROBOT,
"environment_state": OBS_ENV,
"agent_pos": OBS_STATE,
"environment_state": OBS_ENV_STATE,
"pixels": OBS_IMAGE,
}
)
@@ -136,7 +137,7 @@ class XarmEnv(EnvConfig):
features_map: dict[str, str] = field(
default_factory=lambda: {
"action": ACTION,
"agent_pos": OBS_ROBOT,
"agent_pos": OBS_STATE,
"pixels": OBS_IMAGE,
}
)