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rename handle -> task

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Cadene
2024-04-08 14:54:52 +00:00
parent 6c792f0d3d
commit 1149894e1d
6 changed files with 12 additions and 16 deletions
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8
lerobot/common/envs/factory.py
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@@ -26,12 +26,14 @@ def make_env(cfg, num_parallel_envs=0) -> gym.Env | gym.vector.SyncVectorEnv:
)
raise e
handle = f"{package_name}/{cfg.env.handle}"
gym_handle = f"{package_name}/{cfg.env.task}"
if num_parallel_envs == 0:
# non-batched version of the env that returns an observation of shape (c)
env = gym.make(handle, **kwargs)
env = gym.make(gym_handle, **kwargs)
else:
# batched version of the env that returns an observation of shape (b, c)
env = gym.vector.SyncVectorEnv([lambda: gym.make(handle, **kwargs) for _ in range(num_parallel_envs)])
env = gym.vector.SyncVectorEnv(
[lambda: gym.make(gym_handle, **kwargs) for _ in range(num_parallel_envs)]
)
return env