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refactor(g05): keep imports at module scope

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This commit is contained in:
Pepijn
2026-07-30 10:42:48 +02:00
parent 92c2c6cffd
commit 8aec9a1bb7
4 changed files with 19 additions and 48 deletions
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tests/runtime/test_g05_adapter.py
+2 -19
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@@ -16,8 +16,10 @@ from types import SimpleNamespace
import pytest
from lerobot.policies.g05.inference.g05_adapter import G05PolicyAdapter
from lerobot.runtime import LanguageConditionedRuntime, RuntimeState
from lerobot.runtime.adapter import GenerationConfig
from lerobot.runtime.registry import get_language_adapter_factory
class FakeG05Policy:
@@ -36,15 +38,10 @@ class FakeG05Policy:
def test_registry_lazily_resolves_g05_adapter():
from lerobot.policies.g05.inference.g05_adapter import G05PolicyAdapter
from lerobot.runtime.registry import get_language_adapter_factory
assert get_language_adapter_factory("g05") is G05PolicyAdapter
def test_system1_passes_exact_runtime_task_without_mutating_observation():
from lerobot.policies.g05.inference.g05_adapter import G05PolicyAdapter
policy = FakeG05Policy()
adapter = G05PolicyAdapter(policy)
original = {"task": "stale generated subtask", "observation.state": "state"}
@@ -58,8 +55,6 @@ def test_system1_passes_exact_runtime_task_without_mutating_observation():
def test_system2_surfaces_same_pass_cot_and_action():
from lerobot.policies.g05.inference.g05_adapter import G05PolicyAdapter
class ReasoningPolicy(FakeG05Policy):
def __init__(self):
super().__init__(predict_cot=True, continuous_action=True)
@@ -90,8 +85,6 @@ def test_system2_surfaces_same_pass_cot_and_action():
def test_system2_accepts_batch_safe_tuple_metadata():
from lerobot.policies.g05.inference.g05_adapter import G05PolicyAdapter
class ReasoningPolicy(FakeG05Policy):
def __init__(self):
super().__init__(predict_cot=True)
@@ -108,8 +101,6 @@ def test_system2_accepts_batch_safe_tuple_metadata():
def test_system2_reasoning_does_not_invalidate_same_pass_action_chunk():
from lerobot.policies.g05.inference.g05_adapter import G05PolicyAdapter
class ReasoningPolicy(FakeG05Policy):
def __init__(self):
super().__init__(predict_cot=True)
@@ -133,30 +124,22 @@ def test_system2_reasoning_does_not_invalidate_same_pass_action_chunk():
def test_system2_rejects_checkpoint_without_predict_cot():
from lerobot.policies.g05.inference.g05_adapter import G05PolicyAdapter
with pytest.raises(ValueError, match="predict_cot=True"):
G05PolicyAdapter(FakeG05Policy(predict_cot=False), system_mode="system2")
def test_system1_rejects_checkpoint_without_an_action_head():
from lerobot.policies.g05.inference.g05_adapter import G05PolicyAdapter
with pytest.raises(ValueError, match="both discrete_action=False and continuous_action=False"):
G05PolicyAdapter(FakeG05Policy(predict_cot=True, discrete_action=False, continuous_action=False))
def test_system2_requires_structured_single_pass_hook():
from lerobot.policies.g05.inference.g05_adapter import G05PolicyAdapter
adapter = G05PolicyAdapter(FakeG05Policy(predict_cot=True))
with pytest.raises(RuntimeError, match="predict_action_chunk_with_runtime"):
adapter.select_action({}, RuntimeState(task="pick"))
def test_direct_subtask_selects_system1_on_system2_checkpoint():
from lerobot.policies.g05.inference.g05_adapter import G05PolicyAdapter
class SwitchablePolicy(FakeG05Policy):
def __init__(self):
super().__init__(predict_cot=True, continuous_action=True)