fix(env): moved close of control thread to hw env

- removed vla script
- fixed close control thread in hardware

Author: juelg

python/rcsss/control/run_vla.py

@@ -7,8 +7,8 @@
 
 import gymnasium as gym
 import numpy as np
+from python.rcsss._core.common import Robot
 from rcsss import common, sim
-from rcsss._core import hw
 from rcsss.camera.interface import BaseCameraSet
 from rcsss.envs.space_utils import (
     ActObsInfoWrapper,
@@ -160,7 +160,7 @@ class FR3Env(gym.Env):
     y
     """
 
-    def __init__(self, robot: hw.FR3, control_mode: ControlMode):
+    def __init__(self, robot: Robot, control_mode: ControlMode):
         self.robot = robot
         self._control_mode_overrides = [control_mode]
         self.action_space: gym.spaces.Dict
@@ -255,7 +255,6 @@ def reset(
         return self.get_obs(), {}
 
     def close(self):
-        self.robot.stop_control_thread()
         super().close()
 
 

python/rcsss/envs/base.py

@@ -29,3 +29,7 @@ def reset(
         self, seed: int | None = None, options: dict[str, Any] | None = None
     ) -> tuple[dict[str, Any], dict[str, Any]]:
         return super().reset(seed=seed, options=options)
+
+    def close(self):
+        self.hw_robot.stop_control_thread()
+        super().close()