From a2d3588fca71aaa4b742f87301b8996adb6c6ac5 Mon Sep 17 00:00:00 2001 From: Cadene Date: Fri, 5 Apr 2024 17:17:31 +0000 Subject: [PATCH] wrap dm_control aloha into gymnasium (TODO: properly seeding the env) --- lerobot/common/envs/aloha/__init__.py | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100644 lerobot/common/envs/aloha/__init__.py diff --git a/lerobot/common/envs/aloha/__init__.py b/lerobot/common/envs/aloha/__init__.py new file mode 100644 index 00000000..16fe3c43 --- /dev/null +++ b/lerobot/common/envs/aloha/__init__.py @@ -0,0 +1,15 @@ +from gymnasium.envs.registration import register + +register( + id="gym_aloha/AlohaInsertion-v0", + entry_point="lerobot.common.envs.aloha.env:AlohaEnv", + max_episode_steps=300, + kwargs={"obs_type": "state", "task": "insertion"}, +) + +register( + id="gym_aloha/AlohaTransferCube-v0", + entry_point="lerobot.common.envs.aloha.env:AlohaEnv", + max_episode_steps=300, + kwargs={"obs_type": "state", "task": "transfer_cube"}, +)