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feat(sim): Add Libero Env (#1984)

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This commit is contained in:
Jade Choghari
2025-09-22 15:36:20 +02:00
committed by GitHub
parent f7283193ea
commit 2538472781
13 changed files with 906 additions and 32 deletions
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8
tests/policies/test_policies.py
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@@ -159,7 +159,7 @@ def test_policy(ds_repo_id, env_name, env_kwargs, policy_name, policy_kwargs):
assert isinstance(policy, PreTrainedPolicy)
# Check that we run select_actions and get the appropriate output.
env = make_env(train_cfg.env, n_envs=2)
envs = make_env(train_cfg.env, n_envs=2)
dataloader = torch.utils.data.DataLoader(
dataset,
@@ -188,6 +188,12 @@ def test_policy(ds_repo_id, env_name, env_kwargs, policy_name, policy_kwargs):
# reset the policy and environment
policy.reset()
# For testing purposes, we only need a single environment instance.
# So here we unwrap the first suite_name and first task_id to grab
# the actual env object (SyncVectorEnv) that exposes `.reset()`.
suite_name = next(iter(envs))
task_id = next(iter(envs[suite_name]))
env = envs[suite_name][task_id]
observation, _ = env.reset(seed=train_cfg.seed)
# apply transform to normalize the observations