40 lines
1.4 KiB
Python
40 lines
1.4 KiB
Python
import importlib
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import pytest
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import lerobot
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import gymnasium as gym
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from lerobot.common.import_utils import is_package_available
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from lerobot.common.policies.act.modeling_act import ActionChunkingTransformerPolicy
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from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
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from lerobot.common.policies.tdmpc.policy import TDMPCPolicy
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@pytest.mark.parametrize("env_name, task_name", lerobot.env_task_pairs)
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def test_available_env_task(env_name: str, task_name: list):
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"""
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This test verifies that all environments listed in `lerobot/__init__.py` can
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be sucessfully imported if — they're installed — and that their
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`available_tasks_per_env` are valid.
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"""
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package_name = f"gym_{env_name}"
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if not is_package_available(package_name):
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pytest.skip(f"gym-{env_name} not installed")
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importlib.import_module(package_name)
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gym_handle = f"{package_name}/{task_name}"
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assert gym_handle in gym.envs.registry.keys(), gym_handle
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def test_available_policies():
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"""
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This test verifies that the class attribute `name` for all policies is
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consistent with those listed in `lerobot/__init__.py`.
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"""
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policy_classes = [
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ActionChunkingTransformerPolicy,
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DiffusionPolicy,
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TDMPCPolicy,
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]
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policies = [pol_cls.name for pol_cls in policy_classes]
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assert set(policies) == set(lerobot.available_policies), policies
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