Integrate pusht env from diffusion

lerobot/common/envs/pusht/pusht_image_env.py

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+import cv2
+import numpy as np
+from gym import spaces
+
+from lerobot.common.envs.pusht.pusht_env import PushTEnv
+
+
+class PushTImageEnv(PushTEnv):
+    metadata = {"render.modes": ["rgb_array"], "video.frames_per_second": 10}
+
+    def __init__(self, legacy=False, 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.astype(np.float32) / 255, -1, 0)
+        obs = {"image": img_obs, "agent_pos": agent_pos}
+
+        # draw action
+        if self.latest_action is not None:
+            action = np.array(self.latest_action)
+            coord = (action / 512 * 96).astype(np.int32)
+            marker_size = int(8 / 96 * self.render_size)
+            thickness = int(1 / 96 * self.render_size)
+            cv2.drawMarker(
+                img,
+                coord,
+                color=(255, 0, 0),
+                markerType=cv2.MARKER_CROSS,
+                markerSize=marker_size,
+                thickness=thickness,
+            )
+        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