fix environment seeding

add fixes for reproducibility

only try to start env if it is closed

revision

fix normalization and data type

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Tests are passing, Eval pretrained model works, Add gif

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update minor

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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

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Add test_examples.py

tests/test_available.py

@@ -0,0 +1,64 @@
+"""
+This test verifies that all environments, datasets, policies listed in `lerobot/__init__.py` can be sucessfully
+imported and that their class attributes (eg. `available_datasets`, `name`, `available_tasks`) corresponds.
+
+Note:
+    When implementing a concrete class (e.g. `AlohaDataset`, `PushtEnv`, `DiffusionPolicy`), you need to:
+        1. set the required class attributes:
+            - for classes inheriting from `AbstractDataset`: `available_datasets`
+            - for classes inheriting from `AbstractEnv`: `name`, `available_tasks`
+            - for classes inheriting from `AbstractPolicy`: `name`
+        2. update variables in `lerobot/__init__.py` (e.g. `available_envs`, `available_datasets_per_envs`, `available_policies`)
+        3. update variables in `tests/test_available.py` by importing your new class
+"""
+
+import pytest
+import lerobot
+
+from lerobot.common.envs.aloha.env import AlohaEnv
+from lerobot.common.envs.pusht.env import PushtEnv
+from lerobot.common.envs.simxarm import SimxarmEnv
+
+from lerobot.common.datasets.simxarm import SimxarmDataset
+from lerobot.common.datasets.aloha import AlohaDataset
+from lerobot.common.datasets.pusht import PushtDataset
+
+from lerobot.common.policies.act.policy import ActionChunkingTransformerPolicy
+from lerobot.common.policies.diffusion.policy import DiffusionPolicy
+from lerobot.common.policies.tdmpc.policy import TDMPCPolicy
+
+
+def test_available():
+    pol_classes = [
+        ActionChunkingTransformerPolicy,
+        DiffusionPolicy,
+        TDMPCPolicy,
+    ]
+
+    env_classes = [
+        AlohaEnv,
+        PushtEnv,
+        SimxarmEnv,
+    ]
+
+    dat_classes = [
+        AlohaDataset,
+        PushtDataset,
+        SimxarmDataset,
+    ]
+    
+    policies = [pol_cls.name for pol_cls in pol_classes]
+    assert set(policies) == set(lerobot.available_policies)
+
+    envs = [env_cls.name for env_cls in env_classes]
+    assert set(envs) == set(lerobot.available_envs)
+
+    tasks_per_env = {env_cls.name: env_cls.available_tasks for env_cls in env_classes}
+    for env in envs:
+        assert set(tasks_per_env[env]) == set(lerobot.available_tasks_per_env[env])
+
+    datasets_per_env = {env_cls.name: dat_cls.available_datasets for env_cls, dat_cls in zip(env_classes, dat_classes)}
+    for env in envs:
+        assert set(datasets_per_env[env]) == set(lerobot.available_datasets_per_env[env])
+
+    

tests/test_envs.py

@@ -1,4 +1,3 @@
-import os
 import pytest
 from tensordict import TensorDict
 import torch

tests/test_examples.py

@@ -0,0 +1,18 @@
+import pytest
+from pathlib import Path
+
+@pytest.mark.parametrize(
+    "path",
+    [
+        "examples/1_visualize_dataset.py",
+        "examples/2_evaluate_pretrained_policy.py",
+        "examples/3_train_policy.py",
+    ],
+)
+def test_example(path):
+
+    with open(path, 'r') as file:
+        file_contents = file.read()
+    exec(file_contents)
+
+    assert Path("outputs/visualize_dataset/example/episode_0.mp4").exists()

tests/test_policies.py

@@ -13,17 +13,16 @@ from lerobot.common.policies.abstract import AbstractPolicy
 
 from .utils import DEVICE, init_config
 
-
 @pytest.mark.parametrize(
     "env_name,policy_name,extra_overrides",
     [
         ("simxarm", "tdmpc", ["policy.mpc=true"]),
         ("pusht", "tdmpc", ["policy.mpc=false"]),
         ("pusht", "diffusion", []),
-        ("aloha", "act", ["env.task=sim_insertion_scripted"]),
-        ("aloha", "act", ["env.task=sim_insertion_human"]),
-        ("aloha", "act", ["env.task=sim_transfer_cube_scripted"]),
-        ("aloha", "act", ["env.task=sim_transfer_cube_human"]),
+        ("aloha", "act", ["env.task=sim_insertion", "dataset_id=aloha_sim_insertion_human"]),
+        ("aloha", "act", ["env.task=sim_insertion", "dataset_id=aloha_sim_insertion_scripted"]),
+        ("aloha", "act", ["env.task=sim_transfer_cube", "dataset_id=aloha_sim_transfer_cube_human"]),
+        ("aloha", "act", ["env.task=sim_transfer_cube", "dataset_id=aloha_sim_transfer_cube_scripted"]),
         # TODO(aliberts): simxarm not working with diffusion
         # ("simxarm", "diffusion", []),
     ],
@@ -106,6 +105,8 @@ def test_abstract_policy_forward():
             return
 
     class StubPolicy(AbstractPolicy):
+        name = "stub"
+
         def __init__(self):
             super().__init__(n_action_steps)
             self.n_policy_invocations = 0