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Fixes in record_dataset and import gym_hil

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This commit is contained in:
Michel Aractingi
2025-05-09 12:00:21 +02:00
parent e22411ff22
commit fb9bb89cb4
1 changed files with 4 additions and 4 deletions
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8
lerobot/scripts/server/gym_manipulator.py
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@@ -1794,7 +1794,7 @@ def make_robot_env(cfg) -> gym.vector.VectorEnv:
A vectorized gym environment with all necessary wrappers applied.
"""
if cfg.type == "hil":
import gymnasium as gym
import gym_hil # noqa: F401
# TODO (azouitine)
env = gym.make(
@@ -1923,7 +1923,7 @@ def init_reward_classifier(cfg):
###########################################################
def record_dataset(env, policy, cfg, success_collection_steps=15):
def record_dataset(env, policy, cfg, success_collection_steps=0):
"""
Record a dataset of robot interactions using either a policy or teleop.
@@ -2076,7 +2076,7 @@ def record_dataset(env, policy, cfg, success_collection_steps=15):
logging.info(f"Re-recording episode {episode_index}")
continue
dataset.save_episode(cfg.task)
dataset.save_episode()
episode_index += 1
# Finalize dataset
@@ -2144,7 +2144,7 @@ def main(cfg: EnvConfig):
env,
policy=policy,
cfg=cfg,
success_collection_steps=15,
success_collection_steps=0,
)
exit()