chore (type): add typing for multiprocess envs

src/lerobot/processor/pipeline.py

@@ -43,10 +43,10 @@ class TransitionIndex(IntEnum):
 # (observation, action, reward, done, truncated, info, complementary_data)
 EnvTransition = Tuple[
     dict[str, Any] | None,  # observation
-    Any | None,  # action
+    Any | torch.Tensor | None,  # action
-    float | None,  # reward
+    float | torch.Tensor | None,  # reward
-    bool | None,  # done
+    bool | torch.Tensor | None,  # done
-    bool | None,  # truncated
+    bool | torch.Tensor | None,  # truncated
     Dict[str, Any] | None,  # info
     Dict[str, Any] | None,  # complementary_data
 ]

src/lerobot/scripts/eval.py

@@ -159,12 +159,13 @@ def rollout(
     check_env_attributes_and_types(env)
     while not np.all(done):
         # Numpy array to tensor and changing dictionary keys to LeRobot policy format.
-        transition = (observation, None, None, None, None, info, None)
+        transition = (observation, None, None, None, None, None, None)
         processed_transition = obs_processor(transition)
         observation = processed_transition[TransitionIndex.OBSERVATION]
         if return_observations:
             all_observations.append(deepcopy(observation))
 
+        # TODO(azouitine): Move this in processor side
         observation = {
             key: observation[key].to(device, non_blocking=device.type == "cuda") for key in observation
         }