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Add boilerplate code

This commit is contained in:
Simon Alibert 2024-05-20 19:16:37 +02:00
parent c4da689171
commit 512df4b468
8 changed files with 240 additions and 3 deletions
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1
gym_dora/README.md Normal file
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# gym_dora

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gym_dora/example.py Normal file
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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()

17
gym_dora/gym_dora/__init__.py Normal file
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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"},
)

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gym_dora/gym_dora/env.py Normal file
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import gymnasium as gym
import numpy as np
class DoraEnv(gym.Env):
metadata = {"render_modes": ["rgb_array"], "render_fps": 30}
def __init__(self, model="aloha"):
...
# TODO: add code to connect with dora client here
def reset(self, seed: int | None = None):
...
# TODO: same as `step` but doesn't take `actions`
observation = {
"pixels": {
"top": ...,
"bottom": ...,
"left": ...,
"right": ...,
},
"agent_pos": ...,
# "agent_vel": ..., # will be added later
}
reward = 0
terminated = truncated = False
info = {}
return observation, reward, terminated, truncated, info
def render(self): ...
def step(self, action: np.ndarray):
...
# TODO: this is the important bit: the data to be return by Dora to the policy.
observation = {
"pixels": {
"top": ...,
"bottom": ...,
"left": ...,
"right": ...,
},
"agent_pos": ...,
# "agent_vel": ..., # will be added later
}
reward = 0
terminated = truncated = False
info = {}
return observation, reward, terminated, truncated, info
def close(self):
pass
# TODO: If code needs to be run when closing the env (e.g. shutting down Dora client),
# this is the place to do it. Otherwise this can stay as is.

114
gym_dora/poetry.lock generated Normal file
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16
gym_dora/pyproject.toml Normal file
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[tool.poetry]
name = "gym-dora"
version = "0.1.0"
description = ""
authors = ["Simon Alibert <alibert.sim@gmail.com>"]
readme = "README.md"
packages = [{include = "gym_dora"}]
[tool.poetry.dependencies]
python = "^3.10"
gymnasium = ">=0.29.1"
[build-system]
requires = ["poetry-core"]
build-backend = "poetry.core.masonry.api"

23
poetry.lock generated
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@ -1,4 +1,4 @@
# This file is automatically @generated by Poetry 1.8.1 and should not be changed by hand.
# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
[[package]]
name = "absl-py"
@ -1048,6 +1048,22 @@ mujoco = ">=2.3.7,<3.0.0"
dev = ["debugpy (>=1.8.1)", "pre-commit (>=3.7.0)"]
test = ["pytest (>=8.1.0)", "pytest-cov (>=5.0.0)"]
[[package]]
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version = "0.1.0"
description = ""
optional = true
python-versions = "^3.10"
files = []
develop = true
[package.dependencies]
gymnasium = ">=0.29.1"
[package.source]
type = "directory"
url = "gym_dora"
[[package]]
name = "gym-pusht"
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[extras]
aloha = ["gym-aloha"]
dev = ["debugpy", "pre-commit"]
dora = ["gym-dora"]
pusht = ["gym-pusht"]
test = ["pytest", "pytest-cov"]
umi = ["imagecodecs"]
@ -4248,4 +4265,4 @@ xarm = ["gym-xarm"]
[metadata]
lock-version = "2.0"
python-versions = ">=3.10,<3.13"
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2
pyproject.toml
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huggingface-hub = {extras = ["hf-transfer"], version = "^0.23.0"}
gymnasium = ">=0.29.1"
cmake = ">=3.29.0.1"
gym-dora = { path = "gym_dora", optional = true, develop = true}
gym-pusht = { version = ">=0.1.3", optional = true}
gym-xarm = { version = ">=0.1.1", optional = true}
gym-aloha = { version = ">=0.1.1", optional = true}
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[tool.poetry.extras]
dora = ["gym-dora"]
pusht = ["gym-pusht"]
xarm = ["gym-xarm"]
aloha = ["gym-aloha"]