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fix(rl): add time limit processor to environment pipeline

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This commit is contained in:
Khalil Meftah
2026-04-26 16:38:20 +02:00
parent 9c2af818ff
commit cd105f65cb
1 changed files with 13 additions and 2 deletions
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11
src/lerobot/rl/gym_manipulator.py
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@@ -383,9 +383,20 @@ def make_processors(
GymHILAdapterProcessorStep(), GymHILAdapterProcessorStep(),
Numpy2TorchActionProcessorStep(), Numpy2TorchActionProcessorStep(),
VanillaObservationProcessorStep(), VanillaObservationProcessorStep(),
]
# Add time limit processor if reset config exists
if cfg.processor.reset is not None:
env_pipeline_steps.append(
TimeLimitProcessorStep(max_episode_steps=int(cfg.processor.reset.control_time_s * cfg.fps))
)
env_pipeline_steps.extend(
[
AddBatchDimensionProcessorStep(), AddBatchDimensionProcessorStep(),
DeviceProcessorStep(device=device), DeviceProcessorStep(device=device),
] ]
)
return DataProcessorPipeline( return DataProcessorPipeline(
steps=env_pipeline_steps, to_transition=identity_transition, to_output=identity_transition steps=env_pipeline_steps, to_transition=identity_transition, to_output=identity_transition