Sanitize cfg.env

lerobot/common/envs/factory.py

@@ -7,26 +7,26 @@ from lerobot.common.envs.transforms import Prod
 
 def make_env(cfg):
     kwargs = {
-        "frame_skip": cfg.action_repeat,
-        "from_pixels": cfg.from_pixels,
-        "pixels_only": cfg.pixels_only,
-        "image_size": cfg.image_size,
+        "frame_skip": cfg.env.action_repeat,
+        "from_pixels": cfg.env.from_pixels,
+        "pixels_only": cfg.env.pixels_only,
+        "image_size": cfg.env.image_size,
     }
 
-    if cfg.env == "simxarm":
-        kwargs["task"] = cfg.task
+    if cfg.env.name == "simxarm":
+        kwargs["task"] = cfg.env.task
         clsfunc = SimxarmEnv
-    elif cfg.env == "pusht":
+    elif cfg.env.name == "pusht":
         clsfunc = PushtEnv
     else:
-        raise ValueError(cfg.env)
+        raise ValueError(cfg.env.name)
 
     env = clsfunc(**kwargs)
 
     # limit rollout to max_steps
-    env = TransformedEnv(env, StepCounter(max_steps=cfg.episode_length))
+    env = TransformedEnv(env, StepCounter(max_steps=cfg.env.episode_length))
 
-    if cfg.env == "pusht":
+    if cfg.env.name == "pusht":
         # to ensure pusht is in [0,255] like simxarm
         env.append_transform(Prod(in_keys=[("observation", "image")], prod=255.0))