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Add gym-aloha, rename simxarm -> xarm, refactor

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This commit is contained in:
Simon Alibert
2024-04-08 16:18:53 +02:00
parent 5dff6d8339
commit 3f6dfa4916
15 changed files with 91 additions and 97 deletions
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lerobot/configs/env/aloha.yaml
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+3 -1
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@@ -4,7 +4,7 @@ eval_episodes: 50
eval_freq: 7500
save_freq: 75000
log_freq: 250
# TODO: same as simxarm, need to adjust
# TODO: same as xarm, need to adjust
offline_steps: 25000
online_steps: 25000
@@ -14,6 +14,8 @@ dataset_id: aloha_sim_insertion_human
env:
name: aloha
handle: AlohaInsertion-v0
# TODO(aliberts): replace task with handle
task: insertion
from_pixels: True
pixels_only: False
lerobot/configs/env/pusht.yaml
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+3 -1
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@@ -4,7 +4,7 @@ eval_episodes: 50
eval_freq: 7500
save_freq: 75000
log_freq: 250
# TODO: same as simxarm, need to adjust
# TODO: same as xarm, need to adjust
offline_steps: 25000
online_steps: 25000
@@ -14,6 +14,8 @@ dataset_id: pusht
env:
name: pusht
handle: PushT-v0
# TODO(aliberts): replace task with handle
task: pusht
from_pixels: True
pixels_only: False
lerobot/configs/env/simxarm.yaml → lerobot/configs/env/xarm.yaml
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+3 -1
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@@ -12,7 +12,9 @@ fps: 15
dataset_id: xarm_lift_medium
env:
name: simxarm
name: xarm
handle: XarmLift-v0
# TODO(aliberts): replace task with handle
task: lift
from_pixels: True
pixels_only: False