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Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act

This commit is contained in:
Alexander Soare 2024-04-09 15:19:29 +01:00
parent e6c6c2367f 7f4ff0b170
commit 575891e8ac
7 changed files with 82 additions and 68 deletions
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51
.github/poetry/cpu/poetry.lock generated vendored
View File

@ -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]] [[package]]
name = "absl-py" name = "absl-py"
@ -517,21 +517,11 @@ files = [
{file = "distlib-0.3.8.tar.gz", hash = "sha256:1530ea13e350031b6312d8580ddb6b27a104275a31106523b8f123787f494f64"}, {file = "distlib-0.3.8.tar.gz", hash = "sha256:1530ea13e350031b6312d8580ddb6b27a104275a31106523b8f123787f494f64"},
] ]
[[package]]
name = "dm"
version = "1.3"
description = "Dict to Data mapper"
optional = false
python-versions = "*"
files = [
{file = "dm-1.3.tar.gz", hash = "sha256:ce77537bf346b5d8c0dc0b5d679cfc4a946faadcd5315e6c80ef6f3af824130d"},
]
[[package]] [[package]]
name = "dm-control" name = "dm-control"
version = "1.0.14" version = "1.0.14"
description = "Continuous control environments and MuJoCo Python bindings." description = "Continuous control environments and MuJoCo Python bindings."
optional = false optional = true
python-versions = ">=3.8" python-versions = ">=3.8"
files = [ files = [
{file = "dm_control-1.0.14-py3-none-any.whl", hash = "sha256:883c63244a7ebf598700a97564ed19fffd3479ca79efd090aed881609cdb9fc6"}, {file = "dm_control-1.0.14-py3-none-any.whl", hash = "sha256:883c63244a7ebf598700a97564ed19fffd3479ca79efd090aed881609cdb9fc6"},
@ -562,7 +552,7 @@ hdf5 = ["h5py"]
name = "dm-env" name = "dm-env"
version = "1.6" version = "1.6"
description = "A Python interface for Reinforcement Learning environments." description = "A Python interface for Reinforcement Learning environments."
optional = false optional = true
python-versions = ">=3.7" python-versions = ">=3.7"
files = [ files = [
{file = "dm-env-1.6.tar.gz", hash = "sha256:a436eb1c654c39e0c986a516cee218bea7140b510fceff63f97eb4fcff3d93de"}, {file = "dm-env-1.6.tar.gz", hash = "sha256:a436eb1c654c39e0c986a516cee218bea7140b510fceff63f97eb4fcff3d93de"},
@ -578,7 +568,7 @@ numpy = "*"
name = "dm-tree" name = "dm-tree"
version = "0.1.8" version = "0.1.8"
description = "Tree is a library for working with nested data structures." description = "Tree is a library for working with nested data structures."
optional = false optional = true
python-versions = "*" python-versions = "*"
files = [ files = [
{file = "dm-tree-0.1.8.tar.gz", hash = "sha256:0fcaabbb14e7980377439e7140bd05552739ca5e515ecb3119f234acee4b9430"}, {file = "dm-tree-0.1.8.tar.gz", hash = "sha256:0fcaabbb14e7980377439e7140bd05552739ca5e515ecb3119f234acee4b9430"},
@ -806,7 +796,7 @@ test = ["black", "coverage[toml]", "ddt (>=1.1.1,!=1.4.3)", "mock", "mypy", "pre
name = "glfw" name = "glfw"
version = "2.7.0" version = "2.7.0"
description = "A ctypes-based wrapper for GLFW3." description = "A ctypes-based wrapper for GLFW3."
optional = false optional = true
python-versions = "*" python-versions = "*"
files = [ files = [
{file = "glfw-2.7.0-py2.py27.py3.py30.py31.py32.py33.py34.py35.py36.py37.py38-none-macosx_10_6_intel.whl", hash = "sha256:bd82849edcceda4e262bd1227afaa74b94f9f0731c1197863cd25c15bfc613fc"}, {file = "glfw-2.7.0-py2.py27.py3.py30.py31.py32.py33.py34.py35.py36.py37.py38-none-macosx_10_6_intel.whl", hash = "sha256:bd82849edcceda4e262bd1227afaa74b94f9f0731c1197863cd25c15bfc613fc"},
@ -986,7 +976,7 @@ toy-text = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
name = "gymnasium-robotics" name = "gymnasium-robotics"
version = "1.2.4" version = "1.2.4"
description = "Robotics environments for the Gymnasium repo." description = "Robotics environments for the Gymnasium repo."
optional = false optional = true
python-versions = ">=3.8" python-versions = ">=3.8"
files = [ files = [
{file = "gymnasium-robotics-1.2.4.tar.gz", hash = "sha256:d304192b066f8b800599dfbe3d9d90bba9b761ee884472bdc4d05968a8bc61cb"}, {file = "gymnasium-robotics-1.2.4.tar.gz", hash = "sha256:d304192b066f8b800599dfbe3d9d90bba9b761ee884472bdc4d05968a8bc61cb"},
@ -1218,7 +1208,7 @@ i18n = ["Babel (>=2.7)"]
name = "labmaze" name = "labmaze"
version = "1.0.6" version = "1.0.6"
description = "LabMaze: DeepMind Lab's text maze generator." description = "LabMaze: DeepMind Lab's text maze generator."
optional = false optional = true
python-versions = "*" python-versions = "*"
files = [ files = [
{file = "labmaze-1.0.6-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:b2ddef976dfd8d992b19cfa6c633f2eba7576d759c2082da534e3f727479a84a"}, {file = "labmaze-1.0.6-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:b2ddef976dfd8d992b19cfa6c633f2eba7576d759c2082da534e3f727479a84a"},
@ -1262,7 +1252,7 @@ setuptools = "!=50.0.0"
name = "lazy-loader" name = "lazy-loader"
version = "0.3" version = "0.3"
description = "lazy_loader" description = "lazy_loader"
optional = false optional = true
python-versions = ">=3.7" python-versions = ">=3.7"
files = [ files = [
{file = "lazy_loader-0.3-py3-none-any.whl", hash = "sha256:1e9e76ee8631e264c62ce10006718e80b2cfc74340d17d1031e0f84af7478554"}, {file = "lazy_loader-0.3-py3-none-any.whl", hash = "sha256:1e9e76ee8631e264c62ce10006718e80b2cfc74340d17d1031e0f84af7478554"},
@ -1307,7 +1297,7 @@ files = [
name = "lxml" name = "lxml"
version = "5.1.0" version = "5.1.0"
description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API." description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API."
optional = false optional = true
python-versions = ">=3.6" python-versions = ">=3.6"
files = [ files = [
{file = "lxml-5.1.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:704f5572ff473a5f897745abebc6df40f22d4133c1e0a1f124e4f2bd3330ff7e"}, {file = "lxml-5.1.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:704f5572ff473a5f897745abebc6df40f22d4133c1e0a1f124e4f2bd3330ff7e"},
@ -1525,7 +1515,7 @@ tests = ["pytest (>=4.6)"]
name = "mujoco" name = "mujoco"
version = "2.3.7" version = "2.3.7"
description = "MuJoCo Physics Simulator" description = "MuJoCo Physics Simulator"
optional = false optional = true
python-versions = ">=3.8" python-versions = ">=3.8"
files = [ files = [
{file = "mujoco-2.3.7-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:e8714a5ff6a1561b364b7b4648d4c0c8d13e751874cf7401c309b9d23fa9598b"}, {file = "mujoco-2.3.7-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:e8714a5ff6a1561b364b7b4648d4c0c8d13e751874cf7401c309b9d23fa9598b"},
@ -1839,7 +1829,7 @@ xml = ["lxml (>=4.9.2)"]
name = "pettingzoo" name = "pettingzoo"
version = "1.24.3" version = "1.24.3"
description = "Gymnasium for multi-agent reinforcement learning." description = "Gymnasium for multi-agent reinforcement learning."
optional = false optional = true
python-versions = ">=3.8" python-versions = ">=3.8"
files = [ files = [
{file = "pettingzoo-1.24.3-py3-none-any.whl", hash = "sha256:23ed90517d2e8a7098bdaf5e31234b3a7f7b73ca578d70d1ca7b9d0cb0e37982"}, {file = "pettingzoo-1.24.3-py3-none-any.whl", hash = "sha256:23ed90517d2e8a7098bdaf5e31234b3a7f7b73ca578d70d1ca7b9d0cb0e37982"},
@ -2207,7 +2197,7 @@ dev = ["aafigure", "matplotlib", "pygame", "pyglet (<2.0.0)", "sphinx", "wheel"]
name = "pyopengl" name = "pyopengl"
version = "3.1.7" version = "3.1.7"
description = "Standard OpenGL bindings for Python" description = "Standard OpenGL bindings for Python"
optional = false optional = true
python-versions = "*" python-versions = "*"
files = [ files = [
{file = "PyOpenGL-3.1.7-py3-none-any.whl", hash = "sha256:a6ab19cf290df6101aaf7470843a9c46207789855746399d0af92521a0a92b7a"}, {file = "PyOpenGL-3.1.7-py3-none-any.whl", hash = "sha256:a6ab19cf290df6101aaf7470843a9c46207789855746399d0af92521a0a92b7a"},
@ -2218,7 +2208,7 @@ files = [
name = "pyparsing" name = "pyparsing"
version = "3.1.2" version = "3.1.2"
description = "pyparsing module - Classes and methods to define and execute parsing grammars" description = "pyparsing module - Classes and methods to define and execute parsing grammars"
optional = false optional = true
python-versions = ">=3.6.8" python-versions = ">=3.6.8"
files = [ files = [
{file = "pyparsing-3.1.2-py3-none-any.whl", hash = "sha256:f9db75911801ed778fe61bb643079ff86601aca99fcae6345aa67292038fb742"}, {file = "pyparsing-3.1.2-py3-none-any.whl", hash = "sha256:f9db75911801ed778fe61bb643079ff86601aca99fcae6345aa67292038fb742"},
@ -2649,7 +2639,7 @@ torch = ["safetensors[numpy]", "torch (>=1.10)"]
name = "scikit-image" name = "scikit-image"
version = "0.22.0" version = "0.22.0"
description = "Image processing in Python" description = "Image processing in Python"
optional = false optional = true
python-versions = ">=3.9" python-versions = ">=3.9"
files = [ files = [
{file = "scikit_image-0.22.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:74ec5c1d4693506842cc7c9487c89d8fc32aed064e9363def7af08b8f8cbb31d"}, {file = "scikit_image-0.22.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:74ec5c1d4693506842cc7c9487c89d8fc32aed064e9363def7af08b8f8cbb31d"},
@ -2697,7 +2687,7 @@ test = ["asv", "matplotlib (>=3.5)", "numpydoc (>=1.5)", "pooch (>=1.6.0)", "pyt
name = "scipy" name = "scipy"
version = "1.12.0" version = "1.12.0"
description = "Fundamental algorithms for scientific computing in Python" description = "Fundamental algorithms for scientific computing in Python"
optional = false optional = true
python-versions = ">=3.9" python-versions = ">=3.9"
files = [ files = [
{file = "scipy-1.12.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:78e4402e140879387187f7f25d91cc592b3501a2e51dfb320f48dfb73565f10b"}, {file = "scipy-1.12.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:78e4402e140879387187f7f25d91cc592b3501a2e51dfb320f48dfb73565f10b"},
@ -2902,7 +2892,7 @@ testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jar
name = "shapely" name = "shapely"
version = "2.0.3" version = "2.0.3"
description = "Manipulation and analysis of geometric objects" description = "Manipulation and analysis of geometric objects"
optional = false optional = true
python-versions = ">=3.7" python-versions = ">=3.7"
files = [ files = [
{file = "shapely-2.0.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:af7e9abe180b189431b0f490638281b43b84a33a960620e6b2e8d3e3458b61a1"}, {file = "shapely-2.0.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:af7e9abe180b189431b0f490638281b43b84a33a960620e6b2e8d3e3458b61a1"},
@ -3069,7 +3059,7 @@ tests = ["pytest", "pytest-cov"]
name = "tifffile" name = "tifffile"
version = "2024.2.12" version = "2024.2.12"
description = "Read and write TIFF files" description = "Read and write TIFF files"
optional = false optional = true
python-versions = ">=3.9" python-versions = ">=3.9"
files = [ files = [
{file = "tifffile-2024.2.12-py3-none-any.whl", hash = "sha256:870998f82fbc94ff7c3528884c1b0ae54863504ff51dbebea431ac3fa8fb7c21"}, {file = "tifffile-2024.2.12-py3-none-any.whl", hash = "sha256:870998f82fbc94ff7c3528884c1b0ae54863504ff51dbebea431ac3fa8fb7c21"},
@ -3331,7 +3321,12 @@ files = [
docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"] docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"] testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
[extras]
aloha = ["gym-aloha"]
pusht = ["gym-pusht"]
xarm = ["gym-xarm"]
[metadata] [metadata]
lock-version = "2.0" lock-version = "2.0"
python-versions = "^3.10" python-versions = "^3.10"
content-hash = "32cd6caa01276a90b37cb177204e5b1511e92838f3f0268391034042d56f3bd6" content-hash = "8fa6dfc30e605741c24f5de58b89125d5b02153f550e5af7a44356956d6bb167"

21
.github/poetry/cpu/pyproject.toml vendored
View File

@ -23,7 +23,6 @@ packages = [{include = "lerobot"}]
python = "^3.10" python = "^3.10"
termcolor = "^2.4.0" termcolor = "^2.4.0"
omegaconf = "^2.3.0" omegaconf = "^2.3.0"
dm-env = "^1.6"
pandas = "^2.2.1" pandas = "^2.2.1"
wandb = "^0.16.3" wandb = "^0.16.3"
moviepy = "^1.0.3" moviepy = "^1.0.3"
@ -34,21 +33,15 @@ einops = "^0.7.0"
pygame = "^2.5.2" pygame = "^2.5.2"
pymunk = "^6.6.0" pymunk = "^6.6.0"
zarr = "^2.17.0" zarr = "^2.17.0"
shapely = "^2.0.3"
scikit-image = "^0.22.0"
numba = "^0.59.0" numba = "^0.59.0"
mpmath = "^1.3.0" mpmath = "^1.3.0"
torch = {version = "^2.2.1", source = "torch-cpu"} torch = {version = "^2.2.1", source = "torch-cpu"}
mujoco = "^2.3.7"
opencv-python = "^4.9.0.80" opencv-python = "^4.9.0.80"
diffusers = "^0.26.3" diffusers = "^0.26.3"
torchvision = {version = "^0.17.1", source = "torch-cpu"} torchvision = {version = "^0.17.1", source = "torch-cpu"}
h5py = "^3.10.0" h5py = "^3.10.0"
dm = "^1.3"
dm-control = "1.0.14"
robomimic = "0.2.0" robomimic = "0.2.0"
huggingface-hub = "^0.21.4" huggingface-hub = "^0.21.4"
gymnasium-robotics = "^1.2.4"
gymnasium = "^0.29.1" gymnasium = "^0.29.1"
cmake = "^3.29.0.1" cmake = "^3.29.0.1"
gym-pusht = { git = "git@github.com:huggingface/gym-pusht.git", optional = true} gym-pusht = { git = "git@github.com:huggingface/gym-pusht.git", optional = true}
@ -58,9 +51,23 @@ gym-aloha = { git = "git@github.com:huggingface/gym-aloha.git", optional = true}
# gym-xarm = { path = "../gym-xarm", develop = true, optional = true} # gym-xarm = { path = "../gym-xarm", develop = true, optional = true}
# gym-aloha = { path = "../gym-aloha", develop = true, optional = true} # gym-aloha = { path = "../gym-aloha", develop = true, optional = true}
[tool.poetry.extras]
pusht = ["gym-pusht"]
xarm = ["gym-xarm"]
aloha = ["gym-aloha"]
[tool.poetry.group.dev]
optional = true
[tool.poetry.group.dev.dependencies] [tool.poetry.group.dev.dependencies]
pre-commit = "^3.6.2" pre-commit = "^3.6.2"
debugpy = "^1.8.1" debugpy = "^1.8.1"
[tool.poetry.group.test.dependencies]
pytest = "^8.1.0" pytest = "^8.1.0"
pytest-cov = "^5.0.0" pytest-cov = "^5.0.0"

9
.github/workflows/test.yml vendored
View File

@ -34,6 +34,11 @@ jobs:
with: with:
python-version: '3.10' python-version: '3.10'
- name: Add SSH key for installing envs
uses: webfactory/ssh-agent@v0.9.0
with:
ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
#---------------------------------------------- #----------------------------------------------
# install & configure poetry # install & configure poetry
#---------------------------------------------- #----------------------------------------------
@ -87,7 +92,7 @@ jobs:
TMP: ~/tmp TMP: ~/tmp
run: | run: |
mkdir ~/tmp mkdir ~/tmp
poetry install --no-interaction --no-root poetry install --no-interaction --no-root --all-extras
- name: Save cached venv - name: Save cached venv
if: | if: |
@ -106,7 +111,7 @@ jobs:
# install project # install project
#---------------------------------------------- #----------------------------------------------
- name: Install project - name: Install project
run: poetry install --no-interaction run: poetry install --no-interaction --all-extras
#---------------------------------------------- #----------------------------------------------
# run tests & coverage # run tests & coverage

7
lerobot/common/envs/factory.py
View File

@ -30,10 +30,13 @@ def make_env(cfg, num_parallel_envs=0) -> gym.Env | gym.vector.SyncVectorEnv:
if num_parallel_envs == 0: if num_parallel_envs == 0:
# non-batched version of the env that returns an observation of shape (c) # non-batched version of the env that returns an observation of shape (c)
env = gym.make(gym_handle, **kwargs) env = gym.make(gym_handle, disable_env_checker=True, **kwargs)
else: else:
# batched version of the env that returns an observation of shape (b, c) # batched version of the env that returns an observation of shape (b, c)
env = gym.vector.SyncVectorEnv( env = gym.vector.SyncVectorEnv(
[lambda: gym.make(gym_handle, **kwargs) for _ in range(num_parallel_envs)] [
lambda: gym.make(gym_handle, disable_env_checker=True, **kwargs)
for _ in range(num_parallel_envs)
]
) )
return env return env

42
poetry.lock generated
View File

@ -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]] [[package]]
name = "absl-py" name = "absl-py"
@ -521,7 +521,7 @@ files = [
name = "dm-control" name = "dm-control"
version = "1.0.14" version = "1.0.14"
description = "Continuous control environments and MuJoCo Python bindings." description = "Continuous control environments and MuJoCo Python bindings."
optional = false optional = true
python-versions = ">=3.8" python-versions = ">=3.8"
files = [ files = [
{file = "dm_control-1.0.14-py3-none-any.whl", hash = "sha256:883c63244a7ebf598700a97564ed19fffd3479ca79efd090aed881609cdb9fc6"}, {file = "dm_control-1.0.14-py3-none-any.whl", hash = "sha256:883c63244a7ebf598700a97564ed19fffd3479ca79efd090aed881609cdb9fc6"},
@ -552,7 +552,7 @@ hdf5 = ["h5py"]
name = "dm-env" name = "dm-env"
version = "1.6" version = "1.6"
description = "A Python interface for Reinforcement Learning environments." description = "A Python interface for Reinforcement Learning environments."
optional = false optional = true
python-versions = ">=3.7" python-versions = ">=3.7"
files = [ files = [
{file = "dm-env-1.6.tar.gz", hash = "sha256:a436eb1c654c39e0c986a516cee218bea7140b510fceff63f97eb4fcff3d93de"}, {file = "dm-env-1.6.tar.gz", hash = "sha256:a436eb1c654c39e0c986a516cee218bea7140b510fceff63f97eb4fcff3d93de"},
@ -568,7 +568,7 @@ numpy = "*"
name = "dm-tree" name = "dm-tree"
version = "0.1.8" version = "0.1.8"
description = "Tree is a library for working with nested data structures." description = "Tree is a library for working with nested data structures."
optional = false optional = true
python-versions = "*" python-versions = "*"
files = [ files = [
{file = "dm-tree-0.1.8.tar.gz", hash = "sha256:0fcaabbb14e7980377439e7140bd05552739ca5e515ecb3119f234acee4b9430"}, {file = "dm-tree-0.1.8.tar.gz", hash = "sha256:0fcaabbb14e7980377439e7140bd05552739ca5e515ecb3119f234acee4b9430"},
@ -797,7 +797,7 @@ test = ["coverage[toml]", "ddt (>=1.1.1,!=1.4.3)", "mock", "mypy", "pre-commit",
name = "glfw" name = "glfw"
version = "2.7.0" version = "2.7.0"
description = "A ctypes-based wrapper for GLFW3." description = "A ctypes-based wrapper for GLFW3."
optional = false optional = true
python-versions = "*" python-versions = "*"
files = [ files = [
{file = "glfw-2.7.0-py2.py27.py3.py30.py31.py32.py33.py34.py35.py36.py37.py38-none-macosx_10_6_intel.whl", hash = "sha256:bd82849edcceda4e262bd1227afaa74b94f9f0731c1197863cd25c15bfc613fc"}, {file = "glfw-2.7.0-py2.py27.py3.py30.py31.py32.py33.py34.py35.py36.py37.py38-none-macosx_10_6_intel.whl", hash = "sha256:bd82849edcceda4e262bd1227afaa74b94f9f0731c1197863cd25c15bfc613fc"},
@ -921,7 +921,7 @@ shapely = "^2.0.3"
type = "git" type = "git"
url = "git@github.com:huggingface/gym-pusht.git" url = "git@github.com:huggingface/gym-pusht.git"
reference = "HEAD" reference = "HEAD"
resolved_reference = "6c9893504f670ff069d0f759a733e971ea1efdbf" resolved_reference = "824b22832cc8d71a4b4e96a57563510cf47e30c1"
[[package]] [[package]]
name = "gym-xarm" name = "gym-xarm"
@ -977,7 +977,7 @@ toy-text = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
name = "gymnasium-robotics" name = "gymnasium-robotics"
version = "1.2.4" version = "1.2.4"
description = "Robotics environments for the Gymnasium repo." description = "Robotics environments for the Gymnasium repo."
optional = false optional = true
python-versions = ">=3.8" python-versions = ">=3.8"
files = [ files = [
{file = "gymnasium-robotics-1.2.4.tar.gz", hash = "sha256:d304192b066f8b800599dfbe3d9d90bba9b761ee884472bdc4d05968a8bc61cb"}, {file = "gymnasium-robotics-1.2.4.tar.gz", hash = "sha256:d304192b066f8b800599dfbe3d9d90bba9b761ee884472bdc4d05968a8bc61cb"},
@ -1282,7 +1282,7 @@ i18n = ["Babel (>=2.7)"]
name = "labmaze" name = "labmaze"
version = "1.0.6" version = "1.0.6"
description = "LabMaze: DeepMind Lab's text maze generator." description = "LabMaze: DeepMind Lab's text maze generator."
optional = false optional = true
python-versions = "*" python-versions = "*"
files = [ files = [
{file = "labmaze-1.0.6-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:b2ddef976dfd8d992b19cfa6c633f2eba7576d759c2082da534e3f727479a84a"}, {file = "labmaze-1.0.6-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:b2ddef976dfd8d992b19cfa6c633f2eba7576d759c2082da534e3f727479a84a"},
@ -1324,9 +1324,9 @@ setuptools = "!=50.0.0"
[[package]] [[package]]
name = "lazy-loader" name = "lazy-loader"
version = "0.4" version = "0.3"
description = "Makes it easy to load subpackages and functions on demand." description = "lazy_loader"
optional = false optional = true
python-versions = ">=3.7" python-versions = ">=3.7"
files = [ files = [
{file = "lazy_loader-0.4-py3-none-any.whl", hash = "sha256:342aa8e14d543a154047afb4ba8ef17f5563baad3fc610d7b15b213b0f119efc"}, {file = "lazy_loader-0.4-py3-none-any.whl", hash = "sha256:342aa8e14d543a154047afb4ba8ef17f5563baad3fc610d7b15b213b0f119efc"},
@ -1375,7 +1375,7 @@ files = [
name = "lxml" name = "lxml"
version = "5.2.1" version = "5.2.1"
description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API." description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API."
optional = false optional = true
python-versions = ">=3.6" python-versions = ">=3.6"
files = [ files = [
{file = "lxml-5.2.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:1f7785f4f789fdb522729ae465adcaa099e2a3441519df750ebdccc481d961a1"}, {file = "lxml-5.2.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:1f7785f4f789fdb522729ae465adcaa099e2a3441519df750ebdccc481d961a1"},
@ -1671,7 +1671,7 @@ tests = ["pytest (>=4.6)"]
name = "mujoco" name = "mujoco"
version = "2.3.7" version = "2.3.7"
description = "MuJoCo Physics Simulator" description = "MuJoCo Physics Simulator"
optional = false optional = true
python-versions = ">=3.8" python-versions = ">=3.8"
files = [ files = [
{file = "mujoco-2.3.7-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:e8714a5ff6a1561b364b7b4648d4c0c8d13e751874cf7401c309b9d23fa9598b"}, {file = "mujoco-2.3.7-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:e8714a5ff6a1561b364b7b4648d4c0c8d13e751874cf7401c309b9d23fa9598b"},
@ -2126,7 +2126,7 @@ xml = ["lxml (>=4.9.2)"]
name = "pettingzoo" name = "pettingzoo"
version = "1.24.3" version = "1.24.3"
description = "Gymnasium for multi-agent reinforcement learning." description = "Gymnasium for multi-agent reinforcement learning."
optional = false optional = true
python-versions = ">=3.8" python-versions = ">=3.8"
files = [ files = [
{file = "pettingzoo-1.24.3-py3-none-any.whl", hash = "sha256:23ed90517d2e8a7098bdaf5e31234b3a7f7b73ca578d70d1ca7b9d0cb0e37982"}, {file = "pettingzoo-1.24.3-py3-none-any.whl", hash = "sha256:23ed90517d2e8a7098bdaf5e31234b3a7f7b73ca578d70d1ca7b9d0cb0e37982"},
@ -2495,7 +2495,7 @@ dev = ["aafigure", "matplotlib", "pygame", "pyglet (<2.0.0)", "sphinx", "wheel"]
name = "pyopengl" name = "pyopengl"
version = "3.1.7" version = "3.1.7"
description = "Standard OpenGL bindings for Python" description = "Standard OpenGL bindings for Python"
optional = false optional = true
python-versions = "*" python-versions = "*"
files = [ files = [
{file = "PyOpenGL-3.1.7-py3-none-any.whl", hash = "sha256:a6ab19cf290df6101aaf7470843a9c46207789855746399d0af92521a0a92b7a"}, {file = "PyOpenGL-3.1.7-py3-none-any.whl", hash = "sha256:a6ab19cf290df6101aaf7470843a9c46207789855746399d0af92521a0a92b7a"},
@ -2506,7 +2506,7 @@ files = [
name = "pyparsing" name = "pyparsing"
version = "3.1.2" version = "3.1.2"
description = "pyparsing module - Classes and methods to define and execute parsing grammars" description = "pyparsing module - Classes and methods to define and execute parsing grammars"
optional = false optional = true
python-versions = ">=3.6.8" python-versions = ">=3.6.8"
files = [ files = [
{file = "pyparsing-3.1.2-py3-none-any.whl", hash = "sha256:f9db75911801ed778fe61bb643079ff86601aca99fcae6345aa67292038fb742"}, {file = "pyparsing-3.1.2-py3-none-any.whl", hash = "sha256:f9db75911801ed778fe61bb643079ff86601aca99fcae6345aa67292038fb742"},
@ -2937,7 +2937,7 @@ torch = ["safetensors[numpy]", "torch (>=1.10)"]
name = "scikit-image" name = "scikit-image"
version = "0.22.0" version = "0.22.0"
description = "Image processing in Python" description = "Image processing in Python"
optional = false optional = true
python-versions = ">=3.9" python-versions = ">=3.9"
files = [ files = [
{file = "scikit_image-0.22.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:74ec5c1d4693506842cc7c9487c89d8fc32aed064e9363def7af08b8f8cbb31d"}, {file = "scikit_image-0.22.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:74ec5c1d4693506842cc7c9487c89d8fc32aed064e9363def7af08b8f8cbb31d"},
@ -2985,7 +2985,7 @@ test = ["asv", "matplotlib (>=3.5)", "numpydoc (>=1.5)", "pooch (>=1.6.0)", "pyt
name = "scipy" name = "scipy"
version = "1.13.0" version = "1.13.0"
description = "Fundamental algorithms for scientific computing in Python" description = "Fundamental algorithms for scientific computing in Python"
optional = false optional = true
python-versions = ">=3.9" python-versions = ">=3.9"
files = [ files = [
{file = "scipy-1.13.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:ba419578ab343a4e0a77c0ef82f088238a93eef141b2b8017e46149776dfad4d"}, {file = "scipy-1.13.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:ba419578ab343a4e0a77c0ef82f088238a93eef141b2b8017e46149776dfad4d"},
@ -3190,7 +3190,7 @@ testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jar
name = "shapely" name = "shapely"
version = "2.0.3" version = "2.0.3"
description = "Manipulation and analysis of geometric objects" description = "Manipulation and analysis of geometric objects"
optional = false optional = true
python-versions = ">=3.7" python-versions = ">=3.7"
files = [ files = [
{file = "shapely-2.0.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:af7e9abe180b189431b0f490638281b43b84a33a960620e6b2e8d3e3458b61a1"}, {file = "shapely-2.0.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:af7e9abe180b189431b0f490638281b43b84a33a960620e6b2e8d3e3458b61a1"},
@ -3357,7 +3357,7 @@ tests = ["pytest", "pytest-cov"]
name = "tifffile" name = "tifffile"
version = "2024.2.12" version = "2024.2.12"
description = "Read and write TIFF files" description = "Read and write TIFF files"
optional = false optional = true
python-versions = ">=3.9" python-versions = ">=3.9"
files = [ files = [
{file = "tifffile-2024.2.12-py3-none-any.whl", hash = "sha256:870998f82fbc94ff7c3528884c1b0ae54863504ff51dbebea431ac3fa8fb7c21"}, {file = "tifffile-2024.2.12-py3-none-any.whl", hash = "sha256:870998f82fbc94ff7c3528884c1b0ae54863504ff51dbebea431ac3fa8fb7c21"},
@ -3682,4 +3682,4 @@ xarm = ["gym-xarm"]
[metadata] [metadata]
lock-version = "2.0" lock-version = "2.0"
python-versions = "^3.10" python-versions = "^3.10"
content-hash = "bf4627c62a45764931729ce373f1038fe289b6caebb01e66d878f6f278c54518" content-hash = "7ec0310f8dd0ffa4d92fa78e06513bce98c3657692b3753ff34aadd297a3766c"

14
pyproject.toml
View File

@ -23,7 +23,6 @@ packages = [{include = "lerobot"}]
python = "^3.10" python = "^3.10"
termcolor = "^2.4.0" termcolor = "^2.4.0"
omegaconf = "^2.3.0" omegaconf = "^2.3.0"
dm-env = "^1.6"
pandas = "^2.2.1" pandas = "^2.2.1"
wandb = "^0.16.3" wandb = "^0.16.3"
moviepy = "^1.0.3" moviepy = "^1.0.3"
@ -34,20 +33,15 @@ einops = "^0.7.0"
pygame = "^2.5.2" pygame = "^2.5.2"
pymunk = "^6.6.0" pymunk = "^6.6.0"
zarr = "^2.17.0" zarr = "^2.17.0"
shapely = "^2.0.3"
scikit-image = "^0.22.0"
numba = "^0.59.0" numba = "^0.59.0"
mpmath = "^1.3.0" mpmath = "^1.3.0"
torch = "^2.2.1" torch = "^2.2.1"
mujoco = "^2.3.7"
opencv-python = "^4.9.0.80" opencv-python = "^4.9.0.80"
diffusers = "^0.26.3" diffusers = "^0.26.3"
torchvision = "^0.17.1" torchvision = "^0.17.1"
h5py = "^3.10.0" h5py = "^3.10.0"
dm-control = "1.0.14"
huggingface-hub = {extras = ["hf-transfer"], version = "^0.21.4"} huggingface-hub = {extras = ["hf-transfer"], version = "^0.21.4"}
robomimic = "0.2.0" robomimic = "0.2.0"
gymnasium-robotics = "^1.2.4"
gymnasium = "^0.29.1" gymnasium = "^0.29.1"
cmake = "^3.29.0.1" cmake = "^3.29.0.1"
gym-pusht = { git = "git@github.com:huggingface/gym-pusht.git", optional = true} gym-pusht = { git = "git@github.com:huggingface/gym-pusht.git", optional = true}
@ -62,9 +56,17 @@ pusht = ["gym-pusht"]
xarm = ["gym-xarm"] xarm = ["gym-xarm"]
aloha = ["gym-aloha"] aloha = ["gym-aloha"]
[tool.poetry.group.dev]
optional = true
[tool.poetry.group.dev.dependencies] [tool.poetry.group.dev.dependencies]
pre-commit = "^3.6.2" pre-commit = "^3.6.2"
debugpy = "^1.8.1" debugpy = "^1.8.1"
[tool.poetry.group.test.dependencies]
pytest = "^8.1.0" pytest = "^8.1.0"
pytest-cov = "^5.0.0" pytest-cov = "^5.0.0"

6
tests/test_envs.py
View File

@ -33,8 +33,8 @@ def test_env(env_name, task, obs_type):
package_name = f"gym_{env_name}" package_name = f"gym_{env_name}"
importlib.import_module(package_name) importlib.import_module(package_name)
env = gym.make(f"{package_name}/{task}", obs_type=obs_type) env = gym.make(f"{package_name}/{task}", obs_type=obs_type)
check_env(env.unwrapped) check_env(env.unwrapped, skip_render_check=True)
env.close()
@pytest.mark.parametrize( @pytest.mark.parametrize(
"env_name", "env_name",
@ -61,3 +61,5 @@ def test_factory(env_name):
# TODO(rcadene): we assume for now that image normalization takes place in the model # TODO(rcadene): we assume for now that image normalization takes place in the model
assert img.max() <= 1.0 assert img.max() <= 1.0
assert img.min() >= 0.0 assert img.min() >= 0.0
env.close()