admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-07 01:51:47 +00:00
Code Issues Packages Projects Releases Wiki Activity

test(groot): move parity producer into utils/ package

Browse Source 
Mirror the tests/policies/pi0_pi05/utils convention: move dump_original_n1_7.py into
a tests/policies/groot/utils/ package (with __init__.py) and update all path
references in the test docstring/skip-message and the policy README.
This commit is contained in:
nv-sachdevkartik
2026-06-12 08:10:03 +00:00
committed by Andy Wrenn
parent 9db6a8ae0f
commit 628e8fe3b6
4 changed files with 8 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/source/policy_groot_README.md
+2 -2
View File
@@ -48,7 +48,7 @@ is itself a defaulted dataclass, so the original config dataclasses fail to impo
So the test uses a **producer / consumer** split across two venvs:
1. **Producer** — `tests/policies/groot/dump_original_n1_7.py`, run in the *original*
1. **Producer** — `tests/policies/groot/utils/dump_original_n1_7.py`, run in the *original*
gr00t venv. For each embodiment it builds dummy inputs generically from the
checkpoint metadata (state dims from `statistics.json`; camera/language keys from
the processor modality configs), runs the original model, and saves the exact
@@ -82,7 +82,7 @@ PY
# 1) Produce the original-side artifacts for all embodiments (original gr00t venv, CUDA)
CUDA_VISIBLE_DEVICES=0 /path/to/Isaac-GR00T/.venv-original/bin/python \
tests/policies/groot/dump_original_n1_7.py \
tests/policies/groot/utils/dump_original_n1_7.py \
--ckpt "$CKPT" --out-dir tests/policies/groot/artifacts --device cuda --seed 42
# 2) Run the parity test (LeRobot venv) — one parametrized case per embodiment