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

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Cadene
2024-02-25 10:50:23 +00:00
parent 64b5920e94
commit 598bb496b0
13 changed files with 61 additions and 38 deletions
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12
test/test_envs.py
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@@ -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)