fix environment seeding

add fixes for reproducibility

only try to start env if it is closed

revision

fix normalization and data type

Improve README

Improve README

Tests are passing, Eval pretrained model works, Add gif

Update gif

Update gif

Update gif

Update gif

Update README

Update README

update minor

Update README.md

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Update README.md

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Address suggestions

Update thumbnail + stats

Update thumbnail + stats

Update README.md

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

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Add test_examples.py

lerobot/common/envs/abstract.py

@@ -8,6 +8,20 @@ from lerobot.common.utils import set_global_seed
 
 
 class AbstractEnv(EnvBase):
+    """
+    Note:
+        When implementing a concrete class (e.g. `AlohaDataset`, `PushtEnv`, `DiffusionPolicy`), you need to:
+            1. set the required class attributes:
+                - for classes inheriting from `AbstractDataset`: `available_datasets`
+                - for classes inheriting from `AbstractEnv`: `name`, `available_tasks`
+                - for classes inheriting from `AbstractPolicy`: `name`
+            2. update variables in `lerobot/__init__.py` (e.g. `available_envs`, `available_datasets_per_envs`, `available_policies`)
+            3. update variables in `tests/test_available.py` by importing your new class
+    """
+
+    name: str | None = None  # same name should be used to instantiate the environment in factory.py
+    available_tasks: list[str] | None = None  # for instance: sim_insertion, sim_transfer_cube, pusht, lift
+
     def __init__(
         self,
         task,
@@ -21,6 +35,14 @@ class AbstractEnv(EnvBase):
         num_prev_action=0,
     ):
         super().__init__(device=device, batch_size=[])
+        assert self.name is not None, "Subclasses of `AbstractEnv` should set the `name` class attribute."
+        assert (
+            self.available_tasks is not None
+        ), "Subclasses of `AbstractEnv` should set the `available_tasks` class attribute."
+        assert (
+            task in self.available_tasks
+        ), f"The provided task ({task}) is not on the list of available tasks {self.available_tasks}."
+
         self.task = task
         self.frame_skip = frame_skip
         self.from_pixels = from_pixels