Initial commit

examples/aloha_real/env.py

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+import einops
+import numpy as np
+from openpi_client.runtime import environment as _environment
+from typing_extensions import override
+
+from examples.aloha_real import real_env as _real_env
+
+
+class AlohaRealEnvironment(_environment.Environment):
+    """An environment for an Aloha robot on real hardware."""
+
+    def __init__(self, render_height: int = 480, render_width: int = 640) -> None:
+        self._env = _real_env.make_real_env(init_node=True)
+        self._render_height = render_height
+        self._render_width = render_width
+
+        self._ts = None
+
+    @override
+    def reset(self) -> None:
+        self._ts = self._env.reset()
+
+    @override
+    def done(self) -> bool:
+        return False
+
+    @override
+    def get_observation(self) -> dict:
+        if self._ts is None:
+            raise RuntimeError("Timestep is not set. Call reset() first.")
+
+        obs = self._ts.observation
+        for k in list(obs["images"].keys()):
+            if "_depth" in k:
+                del obs["images"][k]
+
+        images = []
+        for cam_name in obs["images"]:
+            curr_image = obs["images"][cam_name]
+            curr_image = einops.rearrange(curr_image, "h w c -> c h w")
+            images.append(curr_image)
+        stacked_images = np.stack(images, axis=0).astype(np.uint8)
+
+        # TODO: Consider removing these transformations.
+        return {
+            "qpos": obs["qpos"],
+            "image": stacked_images,
+        }
+
+    @override
+    def apply_action(self, action: dict) -> None:
+        self._ts = self._env.step(action["qpos"])