From 68ec67f0a540dd0a554df8ac109cb1429ddb5ae7 Mon Sep 17 00:00:00 2001 From: runyud Date: Fri, 14 Nov 2025 15:36:33 -0800 Subject: [PATCH] [fix] fix lang key --- gr00t_wbc/control/envs/robocasa/sync_env.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gr00t_wbc/control/envs/robocasa/sync_env.py b/gr00t_wbc/control/envs/robocasa/sync_env.py index bdfe7a2..62aa414 100644 --- a/gr00t_wbc/control/envs/robocasa/sync_env.py +++ b/gr00t_wbc/control/envs/robocasa/sync_env.py @@ -183,7 +183,7 @@ class SyncEnv(gym.Env): # Add state keys for model input obs = prepare_observation_for_eval(self.robot_model, obs) - obs["language.language_instruction"] = raw_obs["language.language_instruction"] + obs["annotation.human.task_description"] = raw_obs["language.language_instruction"] if hasattr(self.base_env, "get_privileged_obs_keys"): for key in self.base_env.get_privileged_obs_keys(): @@ -205,7 +205,7 @@ class SyncEnv(gym.Env): def get_observation(self): return self.base_env._get_observations() # assumes base env is robosuite - def get_step_info(self) -> Dict[str, any]: + def get_step_info(self) -> Tuple[Dict[str, any], float, bool, bool, Dict[str, any]]: return ( self.observe(), self.cache["reward"], @@ -319,7 +319,7 @@ class SyncEnv(gym.Env): obs_space = prepare_gym_space_for_eval(self.robot_model, obs_space) - obs_space["language.language_instruction"] = gym.spaces.Text( + obs_space["annotation.human.task_description"] = gym.spaces.Text( max_length=256, charset=ALLOWED_LANGUAGE_CHARSET )