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Move gym_dora to dora-lerobot github

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This commit is contained in:
Remi Cadene
2024-05-29 15:20:44 +00:00
parent 1a8e5c1c0b
commit 2ced211864
6 changed files with 0 additions and 386 deletions
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1
gym_dora/README.md
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# gym_dora

17
gym_dora/example.py
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import gymnasium as gym
import gym_dora # noqa: F401
env = gym.make("gym_dora/DoraAloha-v0", disable_env_checker=True)
obs = env.reset()
policy = ... # make_policy
done = False
while not done:
actions = policy.select_action(obs)
observation, reward, terminated, truncated, info = env.step(actions)
done = terminated | truncated | done
env.close()

17
gym_dora/gym_dora/__init__.py
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from gymnasium.envs.registration import register
register(
id="gym_dora/DoraAloha-v0",
entry_point="gym_dora.env:DoraEnv",
max_episode_steps=300,
nondeterministic=True,
kwargs={"model": "aloha"},
)
register(
id="gym_dora/DoraKoch-v0",
entry_point="gym_dora.env:DoraEnv",
max_episode_steps=300,
nondeterministic=True,
kwargs={"model": "koch"},
)

152
gym_dora/gym_dora/env.py
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import os
import gymnasium as gym
import numpy as np
import pyarrow as pa
from dora import Node
from gymnasium import spaces
IMAGE_WIDTH = int(os.getenv("IMAGE_WIDTH", "640"))
IMAGE_HEIGHT = int(os.getenv("IMAGE_HEIGHT", "480"))
FPS = int(os.getenv("FPS", "30"))
JOINTS = [
# absolute joint position
"left_arm_waist",
"left_arm_shoulder",
"left_arm_elbow",
"left_arm_forearm_roll",
"left_arm_wrist_angle",
"left_arm_wrist_rotate",
# normalized gripper position 0: close, 1: open
"left_arm_gripper",
# absolute joint position
"right_arm_waist",
"right_arm_shoulder",
"right_arm_elbow",
"right_arm_forearm_roll",
"right_arm_wrist_angle",
"right_arm_wrist_rotate",
# normalized gripper position 0: close, 1: open
"right_arm_gripper",
]
ACTIONS = [
# position and quaternion for end effector
"left_arm_waist",
"left_arm_shoulder",
"left_arm_elbow",
"left_arm_forearm_roll",
"left_arm_wrist_angle",
"left_arm_wrist_rotate",
# normalized gripper position (0: close, 1: open)
"left_arm_gripper",
"right_arm_waist",
"right_arm_shoulder",
"right_arm_elbow",
"right_arm_forearm_roll",
"right_arm_wrist_angle",
"right_arm_wrist_rotate",
# normalized gripper position (0: close, 1: open)
"right_arm_gripper",
]
class DoraEnv(gym.Env):
metadata = {"render_modes": ["rgb_array"], "render_fps": FPS}
def __init__(self, model="aloha"):
# Initialize a new node
self.node = Node()
self.observation = {"pixels": {}, "agent_pos": None}
self.terminated = False
self.observation_height = IMAGE_HEIGHT
self.observation_width = IMAGE_WIDTH
assert model == "aloha"
self.observation_space = spaces.Dict(
{
"pixels": spaces.Dict(
{
"cam_high": spaces.Box(
low=0,
high=255,
shape=(self.observation_height, self.observation_width, 3),
dtype=np.uint8,
),
"cam_low": spaces.Box(
low=0,
high=255,
shape=(self.observation_height, self.observation_width, 3),
dtype=np.uint8,
),
"cam_left_wrist": spaces.Box(
low=0,
high=255,
shape=(self.observation_height, self.observation_width, 3),
dtype=np.uint8,
),
"cam_right_wrist": spaces.Box(
low=0,
high=255,
shape=(self.observation_height, self.observation_width, 3),
dtype=np.uint8,
),
}
),
"agent_pos": spaces.Box(
low=-1000.0,
high=1000.0,
shape=(len(JOINTS),),
dtype=np.float64,
),
}
)
self.action_space = spaces.Box(low=-1, high=1, shape=(len(ACTIONS),), dtype=np.float32)
def _get_obs(self):
while True:
event = self.node.next(timeout=0.001)
## If event is None, the node event stream is closed and we should terminate the env
if event is None:
self.terminated = True
break
if event["type"] == "INPUT":
# Map Image input into pixels key within Aloha environment
if "cam" in event["id"]:
self.observation["pixels"][event["id"]] = (
event["value"].to_numpy().reshape(IMAGE_HEIGHT, IMAGE_WIDTH, 3)
)
else:
# Map other inputs into the observation dictionary using the event id as key
self.observation[event["id"]] = event["value"].to_numpy()
# If the event is a timeout error break the update loop.
elif event["type"] == "ERROR":
break
def reset(self, seed: int | None = None):
self.node.send_output("reset")
self._get_obs()
self.terminated = False
info = {}
return self.observation, info
def step(self, action: np.ndarray):
# Send the action to the dataflow as action key.
self.node.send_output("action", pa.array(action))
self._get_obs()
reward = 0
terminated = truncated = self.terminated
info = {}
return self.observation, reward, terminated, truncated, info
def render(self): ...
def close(self):
# Drop the node
del self.node

182
gym_dora/poetry.lock generated
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# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
[[package]]
name = "cloudpickle"
version = "3.0.0"
description = "Pickler class to extend the standard pickle.Pickler functionality"
optional = false
python-versions = ">=3.8"
files = [
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[[package]]
name = "dora-rs"
version = "0.3.4"
description = "`dora` goal is to be a low latency, composable, and distributed data flow."
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python-versions = "*"
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pyarrow = "*"
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version = "0.0.4"
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python-versions = "*"
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typing-extensions = ">=4.3.0"
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toy-text = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
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[package.dependencies]
numpy = ">=1.16.6"
[[package]]
name = "typing-extensions"
version = "4.11.0"
description = "Backported and Experimental Type Hints for Python 3.8+"
optional = false
python-versions = ">=3.8"
files = [
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[metadata]
lock-version = "2.0"
python-versions = "^3.10"
content-hash = "7e437b5c547ebe11095f1ce4ff1851d636f8e707ad7de8a6224b0f9ad978240f"

17
gym_dora/pyproject.toml
View File

@@ -1,17 +0,0 @@
[tool.poetry]
name = "gym-dora"
version = "0.1.0"
description = ""
authors = ["Simon Alibert <alibert.sim@gmail.com>"]
readme = "README.md"
packages = [{ include = "gym_dora" }]
[tool.poetry.dependencies]
python = "^3.10"
gymnasium = ">=0.29.1"
dora-rs = ">=0.3.4"
pyarrow = ">=12.0.0"
[build-system]
requires = ["poetry-core"]
build-backend = "poetry.core.masonry.api"