Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act

lerobot/common/envs/factory.py

@@ -30,10 +30,13 @@ def make_env(cfg, num_parallel_envs=0) -> gym.Env | gym.vector.SyncVectorEnv:
 
     if num_parallel_envs == 0:
         # non-batched version of the env that returns an observation of shape (c)
-        env = gym.make(gym_handle, **kwargs)
+        env = gym.make(gym_handle, disable_env_checker=True, **kwargs)
     else:
         # batched version of the env that returns an observation of shape (b, c)
         env = gym.vector.SyncVectorEnv(
-            [lambda: gym.make(gym_handle, **kwargs) for _ in range(num_parallel_envs)]
+            [
+                lambda: gym.make(gym_handle, disable_env_checker=True, **kwargs)
+                for _ in range(num_parallel_envs)
+            ]
         )
     return env