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fix(config): typing correction on config.py (#1320)

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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
This commit is contained in:
Lumen Yang
2025-07-28 15:22:37 +02:00
committed by GitHub
parent 4b88842d20
commit 7fe6adaf61
1 changed files with 8 additions and 8 deletions
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16
src/lerobot/envs/configs.py
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@@ -44,7 +44,7 @@ class EnvConfig(draccus.ChoiceRegistry, abc.ABC):
@EnvConfig.register_subclass("aloha")
@dataclass
class AlohaEnv(EnvConfig):
task: str = "AlohaInsertion-v0"
task: str | None = "AlohaInsertion-v0"
fps: int = 50
episode_length: int = 400
obs_type: str = "pixels_agent_pos"
@@ -82,7 +82,7 @@ class AlohaEnv(EnvConfig):
@EnvConfig.register_subclass("pusht")
@dataclass
class PushtEnv(EnvConfig):
task: str = "PushT-v0"
task: str | None = "PushT-v0"
fps: int = 10
episode_length: int = 300
obs_type: str = "pixels_agent_pos"
@@ -124,7 +124,7 @@ class PushtEnv(EnvConfig):
@EnvConfig.register_subclass("xarm")
@dataclass
class XarmEnv(EnvConfig):
task: str = "XarmLift-v0"
task: str | None = "XarmLift-v0"
fps: int = 15
episode_length: int = 200
obs_type: str = "pixels_agent_pos"
@@ -200,10 +200,10 @@ class HILSerlRobotEnvConfig(EnvConfig):
wrapper: EnvTransformConfig | None = None
fps: int = 10
name: str = "real_robot"
mode: str = None # Either "record", "replay", None
mode: str | None = None # Either "record", "replay", None
repo_id: str | None = None
dataset_root: str | None = None
task: str = ""
task: str | None = ""
num_episodes: int = 10 # only for record mode
episode: int = 0
device: str = "cuda"
@@ -213,6 +213,7 @@ class HILSerlRobotEnvConfig(EnvConfig):
# For the reward classifier, to record more positive examples after a success
number_of_steps_after_success: int = 0
@property
def gym_kwargs(self) -> dict:
return {}
@@ -222,9 +223,8 @@ class HILSerlRobotEnvConfig(EnvConfig):
class HILEnvConfig(EnvConfig):
"""Configuration for the HIL environment."""
type: str = "hil"
name: str = "PandaPickCube"
task: str = "PandaPickCubeKeyboard-v0"
task: str | None = "PandaPickCubeKeyboard-v0"
use_viewer: bool = True
gripper_penalty: float = 0.0
use_gamepad: bool = True
@@ -252,7 +252,7 @@ class HILEnvConfig(EnvConfig):
robot_config: RobotConfig | None = None
teleop_config: TeleoperatorConfig | None = None
wrapper: EnvTransformConfig | None = None
mode: str = None # Either "record", "replay", None
mode: str | None = None # Either "record", "replay", None
repo_id: str | None = None
dataset_root: str | None = None
num_episodes: int = 10 # only for record mode