Initial commit

examples/aloha_sim/main.py

@@ -0,0 +1,55 @@
+import dataclasses
+import logging
+import pathlib
+
+import env as _env
+from openpi_client import action_chunk_broker
+from openpi_client import websocket_client_policy as _websocket_client_policy
+from openpi_client.runtime import runtime as _runtime
+from openpi_client.runtime.agents import policy_agent as _policy_agent
+import saver as _saver
+import tyro
+
+
+@dataclasses.dataclass
+class Args:
+    out_dir: pathlib.Path = pathlib.Path("data/aloha_sim/videos")
+
+    task: str = "gym_aloha/AlohaTransferCube-v0"
+    seed: int = 0
+
+    action_horizon: int = 10
+
+    host: str = "0.0.0.0"
+    port: int = 8000
+
+    display: bool = False
+
+
+def main(args: Args) -> None:
+    runtime = _runtime.Runtime(
+        environment=_env.AlohaSimEnvironment(
+            task=args.task,
+            seed=args.seed,
+        ),
+        agent=_policy_agent.PolicyAgent(
+            policy=action_chunk_broker.ActionChunkBroker(
+                policy=_websocket_client_policy.WebsocketClientPolicy(
+                    host=args.host,
+                    port=args.port,
+                ),
+                action_horizon=args.action_horizon,
+            )
+        ),
+        subscribers=[
+            _saver.VideoSaver(args.out_dir),
+        ],
+        max_hz=50,
+    )
+
+    runtime.run()
+
+
+if __name__ == "__main__":
+    logging.basicConfig(level=logging.INFO, force=True)
+    tyro.cli(main)