diff --git a/gym_dora/README.md b/gym_dora/README.md deleted file mode 100644 index b32427fd..00000000 --- a/gym_dora/README.md +++ /dev/null @@ -1 +0,0 @@ -# gym_dora diff --git a/gym_dora/example.py b/gym_dora/example.py deleted file mode 100644 index d5e6c6ca..00000000 --- a/gym_dora/example.py +++ /dev/null @@ -1,17 +0,0 @@ -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() diff --git a/gym_dora/gym_dora/__init__.py b/gym_dora/gym_dora/__init__.py deleted file mode 100644 index 5d2be5a6..00000000 --- a/gym_dora/gym_dora/__init__.py +++ /dev/null @@ -1,17 +0,0 @@ -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"}, -) diff --git a/gym_dora/gym_dora/env.py b/gym_dora/gym_dora/env.py deleted file mode 100644 index 5316fc72..00000000 --- a/gym_dora/gym_dora/env.py +++ /dev/null @@ -1,152 +0,0 @@ -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): ... - 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