8000 fix(config): typing correction on config.py by LumenYoung · Pull Request #1320 · huggingface/lerobot · GitHub
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fix(config): typing correction on config.py #1320

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fix(config): typing correction on config.py #1320

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fix(config): typing correction on config.py
LumenYoung Jun 16, 2025
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[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Jun 16, 2025
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16 changes: 8 additions & 8 deletions lerobot/common/envs/configs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ def gym_kwargs(self) -> dict:
@EnvConfig.register_subclass("aloha")
@dataclass
class AlohaEnv(EnvConfig):
task: str = "AlohaInsertion-v0"
task: str | None = "AlohaInsertion-v0"
fps: int = 50
episode_length: int = 400
obs_type: str = "pixels_agent_pos"
Expand Down Expand Up @@ -82,7 +82,7 @@ def gym_kwargs(self) -> dict:
@EnvConfig.register_subclass("pusht")
@dataclass
class PushtEnv(EnvConfig):
task: str = "PushT-v0"
task: str | None = "PushT-v0"
fps: int = 10
episode_length: int = 300
obs_type: str = "pixels_agent_pos"
Expand Down Expand Up @@ -124,7 +124,7 @@ def gym_kwargs(self) -> dict:
@EnvConfig.register_subclass("xarm")
@dataclass
class XarmEnv(EnvConfig):
task: str = "XarmLift-v0"
task: str | None = "XarmLift-v0"
fps: int = 15
episode_length: int = 200
obs_type: str = "pixels_agent_pos"
Expand Down Expand Up @@ -200,10 +200,10 @@ class HILSerlRobotEnvConfig(EnvConfig):
wrapper: Optional[EnvTransformConfig] = None
fps: int = 10
name: str = "real_robot"
mode: str = None # Either "record", "replay", None
mode: str | None = None # Either "record", "replay", None
repo_id: Optional[str] = None
dataset_root: Optional[str] = None
task: str = ""
task: str | None = ""
num_episodes: int = 10 # only for record mode
episode: int = 0
device: str = "cuda"
Expand All @@ -213,6 +213,7 @@ class HILSerlRobotEnvConfig(EnvConfig):
# For the reward classifier, to record more positive examples after a success
number_of_steps_after_success: int = 0

@property
def gym_kwargs(self) -> dict:
return {}

Expand All @@ -222,9 +223,8 @@ def gym_kwargs(self) -> dict:
class HILEnvConfig(EnvConfig):
"""Configuration for the HIL environment."""

type: str = "hil"
name: str = "PandaPickCube"
task: str = "PandaPickCubeKeyboard-v0"
task: str | None = "PandaPickCubeKeyboard-v0"
use_viewer: bool = True
gripper_penalty: float = 0.0
use_gamepad: bool = True
Expand Down Expand Up @@ -252,7 +252,7 @@ class HILEnvConfig(EnvConfig):
robot_config: Optional[RobotConfig] = None
teleop_config: Optional[TeleoperatorConfig] = None
wrapper: Optional[EnvTransformConfig] = None
mode: str = None # Either "record", "replay", None
mode: str | None = None # Either "record", "replay", None
repo_id: Optional[str] = None
dataset_root: Optional[str] = None
num_episodes: int = 10 # only for record mode
Expand Down
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