Add policies/factory, Add test, Add _self_ in config

test/test_envs.py

@@ -6,6 +6,8 @@ from lerobot.common.envs.factory import make_env
 from lerobot.common.envs.pusht import PushtEnv
 from lerobot.common.envs.simxarm import SimxarmEnv
 
+from .utils import init_config
+
 
 def print_spec_rollout(env):
     print("observation_spec:", env.observation_spec)
@@ -83,14 +85,6 @@ def test_pusht(from_pixels, pixels_only):
     ],
 )
 def test_factory(config_name):
-    import hydra
-    from hydra import compose, initialize
-
-    config_path = "../lerobot/configs"
-    hydra.core.global_hydra.GlobalHydra.instance().clear()
-    initialize(config_path=config_path)
-    cfg = compose(config_name=config_name)
-
+    cfg = init_config(config_name)
     env = make_env(cfg)
-
     check_env_specs(env)

test/test_policies.py

@@ -0,0 +1,17 @@
+import pytest
+
+from lerobot.common.policies.factory import make_policy
+
+from .utils import init_config
+
+
+@pytest.mark.parametrize(
+    "config_name",
+    [
+        "default",
+        "pusht",
+    ],
+)
+def test_factory(config_name):
+    cfg = init_config(config_name)
+    policy = make_policy(cfg)

test/utils.py

@@ -0,0 +1,11 @@
+import hydra
+from hydra import compose, initialize
+
+CONFIG_PATH = "../lerobot/configs"
+
+
+def init_config(config_name):
+    hydra.core.global_hydra.GlobalHydra.instance().clear()
+    initialize(config_path=CONFIG_PATH)
+    cfg = compose(config_name=config_name)
+    return cfg