Remove warnings (#111)

- Replace `use_pretrained_backbone` with `pretrained_backbone_weights`
- Bump diffusers' minimum version `0.26.3` -> `0.27.2`
- Add ignore flags in CI's pytest
- Change Box observation spaces in simulation environments
- Set `version_base="1.2"` in Hydra initializations
- Bump einops' minimum version `0.7.0` -> `0.8.0`

lerobot/scripts/eval.py

@@ -38,7 +38,6 @@ from pathlib import Path
 
 import einops
 import gymnasium as gym
-import imageio
 import numpy as np
 import torch
 from datasets import Dataset, Features, Image, Sequence, Value
@@ -51,13 +50,10 @@ from lerobot.common.envs.factory import make_env
 from lerobot.common.envs.utils import postprocess_action, preprocess_observation
 from lerobot.common.logger import log_output_dir
 from lerobot.common.policies.factory import make_policy
+from lerobot.common.utils.io_utils import write_video
 from lerobot.common.utils.utils import get_safe_torch_device, init_hydra_config, init_logging, set_global_seed
 
 
-def write_video(video_path, stacked_frames, fps):
-    imageio.mimsave(video_path, stacked_frames, fps=fps)
-
-
 def eval_policy(
     env: gym.vector.VectorEnv,
     policy: torch.nn.Module,

lerobot/scripts/train.py

@@ -22,7 +22,7 @@ from lerobot.common.utils.utils import (
 from lerobot.scripts.eval import eval_policy
 
 
-@hydra.main(version_base=None, config_name="default", config_path="../configs")
+@hydra.main(version_base="1.2", config_name="default", config_path="../configs")
 def train_cli(cfg: dict):
     train(
         cfg,

lerobot/scripts/visualize_dataset.py

@@ -16,7 +16,7 @@ MAX_NUM_STEPS = 1000
 FIRST_FRAME = 0
 
 
-@hydra.main(version_base=None, config_name="default", config_path="../configs")
+@hydra.main(version_base="1.2", config_name="default", config_path="../configs")
 def visualize_dataset_cli(cfg: dict):
     visualize_dataset(cfg, out_dir=hydra.core.hydra_config.HydraConfig.get().runtime.output_dir)