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[pre-commit.ci] auto fixes from pre-commit.com hooks

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pre-commit-ci[bot]
2025-03-04 13:38:47 +00:00
committed by Michel Aractingi
parent bb69cb3c8c
commit 85fe8a3f4e
79 changed files with 2800 additions and 794 deletions
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25
lerobot/scripts/server/maniskill_manipulator.py
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@@ -10,7 +10,9 @@ from typing import Any
from mani_skill.vector.wrappers.gymnasium import ManiSkillVectorEnv
def preprocess_maniskill_observation(observations: dict[str, np.ndarray]) -> dict[str, torch.Tensor]:
def preprocess_maniskill_observation(
observations: dict[str, np.ndarray],
) -> dict[str, torch.Tensor]:
"""Convert environment observation to LeRobot format observation.
Args:
observation: Dictionary of observation batches from a Gym vector environment.
@@ -62,7 +64,9 @@ class ManiSkillCompat(gym.Wrapper):
new_action_space_shape = env.action_space.shape[-1]
new_low = np.squeeze(env.action_space.low, axis=0)
new_high = np.squeeze(env.action_space.high, axis=0)
self.action_space = gym.spaces.Box(low=new_low, high=new_high, shape=(new_action_space_shape,))
self.action_space = gym.spaces.Box(
low=new_low, high=new_high, shape=(new_action_space_shape,)
)
def reset(
self, *, seed: int | None = None, options: dict[str, Any] | None = None
@@ -81,7 +85,9 @@ class ManiSkillCompat(gym.Wrapper):
class ManiSkillActionWrapper(gym.ActionWrapper):
def __init__(self, env):
super().__init__(env)
self.action_space = gym.spaces.Tuple(spaces=(env.action_space, gym.spaces.Discrete(2)))
self.action_space = gym.spaces.Tuple(
spaces=(env.action_space, gym.spaces.Discrete(2))
)
def action(self, action):
action, telop = action
@@ -95,7 +101,9 @@ class ManiSkillMultiplyActionWrapper(gym.Wrapper):
action_space_agent: gym.spaces.Box = env.action_space[0]
action_space_agent.low = action_space_agent.low * multiply_factor
action_space_agent.high = action_space_agent.high * multiply_factor
self.action_space = gym.spaces.Tuple(spaces=(action_space_agent, gym.spaces.Discrete(2)))
self.action_space = gym.spaces.Tuple(
spaces=(action_space_agent, gym.spaces.Discrete(2))
)
def step(self, action):
if isinstance(action, tuple):
@@ -137,7 +145,9 @@ def make_maniskill(
env = ManiSkillObservationWrapper(env, device=cfg.env.device)
env = ManiSkillVectorEnv(env, ignore_terminations=True, auto_reset=False)
env._max_episode_steps = env.max_episode_steps = 50 # gym_utils.find_max_episode_steps_value(env)
env._max_episode_steps = env.max_episode_steps = (
50 # gym_utils.find_max_episode_steps_value(env)
)
env.unwrapped.metadata["render_fps"] = 20
env = ManiSkillCompat(env)
env = ManiSkillActionWrapper(env)
@@ -149,10 +159,11 @@ def make_maniskill(
if __name__ == "__main__":
import argparse
import hydra
from omegaconf import OmegaConf
parser = argparse.ArgumentParser()
parser.add_argument("--config", type=str, default="lerobot/configs/env/maniskill_example.yaml")
parser.add_argument(
"--config", type=str, default="lerobot/configs/env/maniskill_example.yaml"
)
args = parser.parse_args()
# Initialize config