Merge remote-tracking branch 'upstream/main' into finish_examples

tests/test_envs.py

@@ -4,6 +4,7 @@ import torch
 from torchrl.envs.utils import check_env_specs, step_mdp
 from lerobot.common.datasets.factory import make_offline_buffer
 
+from lerobot.common.envs.aloha.env import AlohaEnv
 from lerobot.common.envs.factory import make_env
 from lerobot.common.envs.pusht.env import PushtEnv
 from lerobot.common.envs.simxarm.env import SimxarmEnv
@@ -39,6 +40,26 @@ def print_spec_rollout(env):
     print("data from rollout:", simple_rollout(100))
 
 
+@pytest.mark.parametrize(
+    "task,from_pixels,pixels_only",
+    [
+        ("sim_insertion", True, False),
+        ("sim_insertion", True, True),
+        ("sim_transfer_cube", True, False),
+        ("sim_transfer_cube", True, True),
+    ],
+)
+def test_aloha(task, from_pixels, pixels_only):
+    env = AlohaEnv(
+        task,
+        from_pixels=from_pixels,
+        pixels_only=pixels_only,
+        image_size=[3, 480, 640] if from_pixels else None,
+    )
+    # print_spec_rollout(env)
+    check_env_specs(env)
+
+
 @pytest.mark.parametrize(
     "task,from_pixels,pixels_only",
     [