From 624efd50c6dae80ca9630098655320d600f2de77 Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Fri, 29 Mar 2024 18:37:37 +0100 Subject: [PATCH] Remove _has_gym checks --- lerobot/common/envs/aloha.py | 4 ---- lerobot/common/envs/pusht.py | 4 ---- lerobot/common/envs/xarm.py | 9 ++++----- 3 files changed, 4 insertions(+), 13 deletions(-) diff --git a/lerobot/common/envs/aloha.py b/lerobot/common/envs/aloha.py index 55219dcd..c5f7ca13 100644 --- a/lerobot/common/envs/aloha.py +++ b/lerobot/common/envs/aloha.py @@ -17,7 +17,6 @@ from torchrl.data.tensor_specs import ( from lerobot.common.envs.abstract import AbstractEnv from lerobot.common.utils import set_global_seed -_has_gym = importlib.util.find_spec("gymnasium") is not None _has_aloha = importlib.util.find_spec("aloha") is not None @@ -51,9 +50,6 @@ class AlohaEnv(AbstractEnv): ) def _make_env(self): - if not _has_gym: - raise ImportError("Cannot import gymnasium.") - if not self.from_pixels: raise NotImplementedError() diff --git a/lerobot/common/envs/pusht.py b/lerobot/common/envs/pusht.py index 0b206f12..be8f9943 100644 --- a/lerobot/common/envs/pusht.py +++ b/lerobot/common/envs/pusht.py @@ -18,7 +18,6 @@ from torchrl.envs.libs.gym import _gym_to_torchrl_spec_transform from lerobot.common.envs.abstract import AbstractEnv from lerobot.common.utils import set_global_seed -_has_gym = importlib.util.find_spec("gymnasium") is not None _has_pusht = importlib.util.find_spec("pusht") is not None @@ -52,9 +51,6 @@ class PushtEnv(AbstractEnv): ) def _make_env(self): - if not _has_gym: - raise ImportError("Cannot import gymnasium.") - # TODO(rcadene) (PushTEnv is similar to PushTImageEnv, but without the image rendering, it's faster to iterate on) # from lerobot.common.envs.pusht.pusht_env import PushTEnv if not self.from_pixels: diff --git a/lerobot/common/envs/xarm.py b/lerobot/common/envs/xarm.py index 4f0b62ec..1c851061 100644 --- a/lerobot/common/envs/xarm.py +++ b/lerobot/common/envs/xarm.py @@ -53,15 +53,14 @@ class SimxarmEnv(AbstractEnv): ) def _make_env(self): - if not _has_gym: - raise ImportError("Cannot import gymnasium.") - - import gymnasium - if not _has_xarm: raise ImportError( "Cannot import xarm env. Please install it with `python -m pip install 'lerobot[xarm]'`" ) + if not _has_gym: + raise ImportError("Cannot import gymnasium.") + + import gymnasium from xarm import TASKS