66323dcd0a
WIP Aloha env tests pass Rendering works (fps look fast tho? TODO action bounding is too wide [-1,1]) Update README Copy past from act repo Remove download.py add a WIP for Simxarm Remove download.py add a WIP for Simxarm Add act yaml (TODO: try train.py) Training can runs (TODO: eval) Add tasks without end_effector that are compatible with dataset, Eval can run (TODO: training and pretrained model) Add AbstractEnv, Refactor AlohaEnv, Add rendering_hook in env, Minor modifications, (TODO: Refactor Pusht and Simxarm)
24 lines
712 B
Python
24 lines
712 B
Python
import pytest
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from lerobot.common.datasets.factory import make_offline_buffer
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from .utils import init_config
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@pytest.mark.parametrize(
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"env_name,dataset_id",
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[
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# TODO(rcadene): simxarm is depreciated for now
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# ("simxarm", "lift"),
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("pusht", "pusht"),
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# TODO(aliberts): add aloha when dataset is available on hub
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("aloha", "sim_insertion_human"),
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("aloha", "sim_insertion_scripted"),
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("aloha", "sim_transfer_cube_human"),
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("aloha", "sim_transfer_cube_scripted"),
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],
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)
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def test_factory(env_name, dataset_id):
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cfg = init_config(overrides=[f"env={env_name}", f"env.task={dataset_id}"])
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offline_buffer = make_offline_buffer(cfg)
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