Making Envs module pass MyPy checks (#2048)

* Fix configs.py None MyPy error

* Use img_tensor instead of img in utils.py

* Add type assertion in factory.py

* Resolve merge conflict

* Uncomment envs moodule for mypy checks in pyproject.toml

---------

Signed-off-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>

.pre-commit-config.yaml

@@ -86,12 +86,12 @@ repos:
 
   # TODO(Steven): Uncomment when ready to use
   ##### Static Analysis & Typing #####
-  # - repo: https://github.com/pre-commit/mirrors-mypy
+  - repo: https://github.com/pre-commit/mirrors-mypy
-  #   rev: v1.16.0
+    rev: v1.16.0
-  #   hooks:
+    hooks:
-  #     - id: mypy
+      - id: mypy
-  #       args: [--config-file=pyproject.toml]
+        args: [--config-file=pyproject.toml]
-  #       exclude: ^(examples|benchmarks|tests)/
+        exclude: ^(examples|benchmarks|tests)/
 
   ##### Docstring Checks #####
   # - repo: https://github.com/akaihola/darglint2

pyproject.toml

@@ -270,10 +270,10 @@ default.extend-ignore-identifiers-re = [
 # TODO: Enable mypy gradually module by module across multiple PRs
 # Uncomment [tool.mypy] first, then uncomment individual module overrides as they get proper type annotations
 
-# [tool.mypy]
+[tool.mypy]
-# python_version = "3.10"
+python_version = "3.10"
-# ignore_missing_imports = true
+ignore_missing_imports = true
-# follow_imports = "skip"
+follow_imports = "skip"
 # warn_return_any = true
 # warn_unused_configs = true
 # strict = true
@@ -281,14 +281,14 @@ default.extend-ignore-identifiers-re = [
 # disallow_incomplete_defs = true
 # check_untyped_defs = true
 
-# [[tool.mypy.overrides]]
+[[tool.mypy.overrides]]
-# module = "lerobot.*"
+module = "lerobot.*"
-# ignore_errors = true
+ignore_errors = true
 
-# [[tool.mypy.overrides]]
+[[tool.mypy.overrides]]
-# module = "lerobot.envs.*"
+module = "lerobot.envs.*"
-# # Enable type checking only for the envs module
+# Enable type checking only for the envs module
-# ignore_errors = false
+ignore_errors = false
 
 
 # [[tool.mypy.overrides]]
@@ -299,7 +299,6 @@ default.extend-ignore-identifiers-re = [
 # module = "lerobot.configs.*"
 # ignore_errors = false
 
-# PHASE 2: Core modules
 # [[tool.mypy.overrides]]
 # module = "lerobot.optim.*"
 # ignore_errors = false
@@ -340,6 +339,7 @@ default.extend-ignore-identifiers-re = [
 # module = "lerobot.rl.*"
 # ignore_errors = false
 
+
 # [[tool.mypy.overrides]]
 # module = "lerobot.async_inference.*"
 # ignore_errors = false

src/lerobot/envs/configs.py

@@ -254,7 +254,7 @@ class LiberoEnv(EnvConfig):
     render_mode: str = "rgb_array"
     camera_name: str = "agentview_image,robot0_eye_in_hand_image"
     init_states: bool = True
-    camera_name_mapping: dict[str, str] | None = (None,)
+    camera_name_mapping: dict[str, str] | None = None
     features: dict[str, PolicyFeature] = field(
         default_factory=lambda: {
             ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(7,)),

src/lerobot/envs/factory.py

@@ -63,6 +63,9 @@ def make_env(
     if "libero" in cfg.type:
         from lerobot.envs.libero import create_libero_envs
 
+        if cfg.task is None:
+            raise ValueError("LiberoEnv requires a task to be specified")
+
         return create_libero_envs(
             task=cfg.task,
             n_envs=n_envs,

src/lerobot/envs/utils.py

@@ -48,25 +48,25 @@ def preprocess_observation(observations: dict[str, np.ndarray]) -> dict[str, Ten
 
         for imgkey, img in imgs.items():
             # TODO(aliberts, rcadene): use transforms.ToTensor()?
-            img = torch.from_numpy(img)
+            img_tensor = torch.from_numpy(img)
 
             # When preprocessing observations in a non-vectorized environment, we need to add a batch dimension.
             # This is the case for human-in-the-loop RL where there is only one environment.
-            if img.ndim == 3:
+            if img_tensor.ndim == 3:
-                img = img.unsqueeze(0)
+                img_tensor = img_tensor.unsqueeze(0)
             # sanity check that images are channel last
-            _, h, w, c = img.shape
+            _, h, w, c = img_tensor.shape
-            assert c < h and c < w, f"expect channel last images, but instead got {img.shape=}"
+            assert c < h and c < w, f"expect channel last images, but instead got {img_tensor.shape=}"
 
             # sanity check that images are uint8
-            assert img.dtype == torch.uint8, f"expect torch.uint8, but instead {img.dtype=}"
+            assert img_tensor.dtype == torch.uint8, f"expect torch.uint8, but instead {img_tensor.dtype=}"
 
             # convert to channel first of type float32 in range [0,1]
-            img = einops.rearrange(img, "b h w c -> b c h w").contiguous()
+            img_tensor = einops.rearrange(img_tensor, "b h w c -> b c h w").contiguous()
-            img = img.type(torch.float32)
+            img_tensor = img_tensor.type(torch.float32)
-            img /= 255
+            img_tensor /= 255
 
-            return_observations[imgkey] = img
+            return_observations[imgkey] = img_tensor
 
     if "environment_state" in observations:
         env_state = torch.from_numpy(observations["environment_state"]).float()