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

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