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AdilZouitine
2025-05-16 17:19:02 +02:00
parent 1df2a7b2da
commit 520cc69534
7 changed files with 36 additions and 36 deletions
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18
lerobot/common/envs/configs.py
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@@ -168,13 +168,6 @@ class VideoRecordConfig:
trajectory_name: str = "trajectory"
@dataclass
class WrapperConfig:
"""Configuration for environment wrappers."""
joint_masking_action_space: list[bool] | None = None
@dataclass
class EEActionSpaceConfig:
"""Configuration parameters for end-effector action space."""
@@ -187,7 +180,7 @@ class EEActionSpaceConfig:
@dataclass
class EnvWrapperConfig:
class EnvTransformConfig:
"""Configuration for environment wrappers."""
ee_action_space_params: EEActionSpaceConfig = field(default_factory=EEActionSpaceConfig)
@@ -212,7 +205,7 @@ class HILSerlRobotEnvConfig(EnvConfig):
"""Configuration for the HILSerlRobotEnv environment."""
robot: Optional[RobotConfig] = None
wrapper: Optional[EnvWrapperConfig] = None
wrapper: Optional[EnvTransformConfig] = None
fps: int = 10
name: str = "real_robot"
mode: str = None # Either "record", "replay", None
@@ -225,9 +218,8 @@ class HILSerlRobotEnvConfig(EnvConfig):
push_to_hub: bool = True
pretrained_policy_name_or_path: Optional[str] = None
reward_classifier_pretrained_path: Optional[str] = None
number_of_steps_after_success: int = (
0 # For the reward classifier, to record more positive examples after a success
)
# For the reward classifier, to record more positive examples after a success
number_of_steps_after_success: int = 0
def gym_kwargs(self) -> dict:
return {}
@@ -266,7 +258,7 @@ class HILEnvConfig(EnvConfig):
################# args from hilserlrobotenv
reward_classifier_pretrained_path: Optional[str] = None
robot: Optional[RobotConfig] = None
wrapper: Optional[EnvWrapperConfig] = None
wrapper: Optional[EnvTransformConfig] = None
mode: str = None # Either "record", "replay", None
repo_id: Optional[str] = None
dataset_root: Optional[str] = None