remove policy is None eval end-to-end tests

lerobot/scripts/eval.py

@@ -57,7 +57,7 @@ def write_video(video_path, stacked_frames, fps):
 
 def eval_policy(
     env: gym.vector.VectorEnv,
-    policy,
+    policy: torch.nn.Module,
     max_episodes_rendered: int = 0,
     video_dir: Path = None,
     # TODO(rcadene): make it possible to overwrite fps? we should use env.fps
@@ -312,12 +312,12 @@ def eval(cfg: dict, out_dir=None, stats_path=None):
     logging.info("Making environment.")
     env = make_env(cfg, num_parallel_envs=cfg.eval_episodes)
 
-    # when policy is None, rollout a random policy
-    policy = make_policy(cfg) if cfg.policy.pretrained_model_path else None
+    logging.info("Making policy.")
+    policy = make_policy(cfg)
 
     info = eval_policy(
         env,
-        policy=policy,
+        policy,
         max_episodes_rendered=10,
         video_dir=Path(out_dir) / "eval",
         # TODO(rcadene): what should we do with the transform?