rename handle -> task

lerobot/common/envs/factory.py

@@ -26,12 +26,14 @@ def make_env(cfg, num_parallel_envs=0) -> gym.Env | gym.vector.SyncVectorEnv:
         )
         raise e
 
-    handle = f"{package_name}/{cfg.env.handle}"
+    gym_handle = f"{package_name}/{cfg.env.task}"
 
     if num_parallel_envs == 0:
         # non-batched version of the env that returns an observation of shape (c)
-        env = gym.make(handle, **kwargs)
+        env = gym.make(gym_handle, **kwargs)
     else:
         # batched version of the env that returns an observation of shape (b, c)
-        env = gym.vector.SyncVectorEnv([lambda: gym.make(handle, **kwargs) for _ in range(num_parallel_envs)])
+        env = gym.vector.SyncVectorEnv(
+            [lambda: gym.make(gym_handle, **kwargs) for _ in range(num_parallel_envs)]
+        )
     return env

lerobot/configs/env/aloha.yaml

@@ -14,9 +14,7 @@ dataset_id: aloha_sim_insertion_human
 
 env:
   name: aloha
-  handle: AlohaInsertion-v0
-  # TODO(aliberts): replace task with handle
-  task: insertion
+  task: AlohaInsertion-v0
   from_pixels: True
   pixels_only: False
   image_size: [3, 480, 640]

lerobot/configs/env/pusht.yaml

@@ -14,9 +14,7 @@ dataset_id: pusht
 
 env:
   name: pusht
-  handle: PushT-v0
-  # TODO(aliberts): replace task with handle
-  task: pusht
+  task: PushT-v0
   from_pixels: True
   pixels_only: False
   image_size: 96

lerobot/configs/env/xarm.yaml

@@ -13,9 +13,7 @@ dataset_id: xarm_lift_medium
 
 env:
   name: xarm
-  handle: XarmLift-v0
-  # TODO(aliberts): replace task with handle
-  task: lift
+  task: XarmLift-v0
   from_pixels: True
   pixels_only: False
   image_size: 84

lerobot/scripts/train.py

@@ -162,7 +162,7 @@ def train(cfg: dict, out_dir=None, job_name=None):
     logger = Logger(out_dir, job_name, cfg)
 
     log_output_dir(out_dir)
-    logging.info(f"{cfg.env.handle=}")
+    logging.info(f"{cfg.env.task=}")
     logging.info(f"{cfg.offline_steps=} ({format_big_number(cfg.offline_steps)})")
     logging.info(f"{cfg.online_steps=}")
     logging.info(f"{cfg.env.action_repeat=}")

tests/test_envs.py

@@ -14,7 +14,7 @@ from .utils import DEVICE, DEFAULT_CONFIG_PATH
 
 
 @pytest.mark.parametrize(
-    "env_name, handle, obs_type",
+    "env_name, task, obs_type",
     [
         # ("AlohaInsertion-v0", "state"),
         ("aloha", "AlohaInsertion-v0", "pixels"),
@@ -29,10 +29,10 @@ from .utils import DEVICE, DEFAULT_CONFIG_PATH
         ("pusht", "PushT-v0", "pixels_agent_pos"),
     ],
 )
-def test_env(env_name, handle, obs_type):
+def test_env(env_name, task, obs_type):
     package_name = f"gym_{env_name}"
     importlib.import_module(package_name)
-    env = gym.make(f"{package_name}/{handle}", obs_type=obs_type)
+    env = gym.make(f"{package_name}/{task}", obs_type=obs_type)
     check_env(env.unwrapped)