lerobot/tests/test_available.py

import importlib

import gymnasium as gym
import pytest

import lerobot
from lerobot.common.datasets.aloha import AlohaDataset
from lerobot.common.datasets.pusht import PushtDataset
from lerobot.common.datasets.xarm import XarmDataset
from lerobot.common.policies.act.modeling_act import ActionChunkingTransformerPolicy
from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
from lerobot.common.policies.tdmpc.policy import TDMPCPolicy
from tests.utils import require_env


@pytest.mark.parametrize("env_name, task_name", lerobot.env_task_pairs)
@require_env
def test_available_env_task(env_name: str, task_name: list):
    """
    This test verifies that all environments listed in `lerobot/__init__.py` can
    be sucessfully imported — if they're installed — and that their
    `available_tasks_per_env` are valid.
    """
    package_name = f"gym_{env_name}"
    importlib.import_module(package_name)
    gym_handle = f"{package_name}/{task_name}"
    assert gym_handle in gym.envs.registry, gym_handle


@pytest.mark.parametrize(
    "env_name, dataset_class",
    [
        ("aloha", AlohaDataset),
        ("pusht", PushtDataset),
        ("xarm", XarmDataset),
    ],
)
def test_available_datasets(env_name, dataset_class):
    """
    This test verifies that the class attribute `available_datasets` for all
    dataset classes is consistent with those listed in `lerobot/__init__.py`.
    """
    available_env_datasets = lerobot.available_datasets[env_name]
    assert set(available_env_datasets) == set(
        dataset_class.available_datasets
    ), f"{env_name=} {available_env_datasets=}"


def test_available_policies():
    """
    This test verifies that the class attribute `name` for all policies is
    consistent with those listed in `lerobot/__init__.py`.
    """
    policy_classes = [
        ActionChunkingTransformerPolicy,
        DiffusionPolicy,
        TDMPCPolicy,
    ]
    policies = [pol_cls.name for pol_cls in policy_classes]
    assert set(policies) == set(lerobot.available_policies), policies