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Tests cleaning & simplification (#81)

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This commit is contained in:
Simon Alibert
2024-04-18 14:47:42 +02:00
committed by GitHub
parent 0928afd37d
commit 7ad1909641
24 changed files with 277 additions and 157 deletions
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13
tests/test_policies.py
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@@ -1,16 +1,18 @@
import pytest
import torch
from lerobot.common.datasets.factory import make_dataset
from lerobot.common.datasets.utils import cycle
from lerobot.common.envs.factory import make_env
from lerobot.common.envs.utils import postprocess_action, preprocess_observation
from lerobot.common.policies.factory import make_policy
from lerobot.common.policies.policy_protocol import Policy
from lerobot.common.envs.factory import make_env
from lerobot.common.datasets.factory import make_dataset
from lerobot.common.utils import init_hydra_config
from .utils import DEVICE, DEFAULT_CONFIG_PATH
from lerobot.common.utils.utils import init_hydra_config
from .utils import DEFAULT_CONFIG_PATH, DEVICE, require_env
# TODO(aliberts): refactor using lerobot/__init__.py variables
@pytest.mark.parametrize(
"env_name,policy_name,extra_overrides",
[
@@ -21,10 +23,9 @@ from .utils import DEVICE, DEFAULT_CONFIG_PATH
("aloha", "act", ["env.task=AlohaInsertion-v0", "dataset_id=aloha_sim_insertion_scripted"]),
("aloha", "act", ["env.task=AlohaTransferCube-v0", "dataset_id=aloha_sim_transfer_cube_human"]),
("aloha", "act", ["env.task=AlohaTransferCube-v0", "dataset_id=aloha_sim_transfer_cube_scripted"]),
# TODO(aliberts): xarm not working with diffusion
# ("xarm", "diffusion", []),
],
)
@require_env
def test_policy(env_name, policy_name, extra_overrides):
"""
Tests: