reduce to least config and params & pass lerobot basic test

tests/policies/wall_x/__init__.py

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+# Wall-X policy tests
+

tests/policies/wall_x/test_wallx.py

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+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Test script to verify Wall-X policy integration with LeRobot, only meant to be run locally!"""
+
+import os
+
+import pytest
+import torch
+
+# Skip this entire module in CI
+pytestmark = pytest.mark.skipif(
+    os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
+    reason="This test requires local Wall-X installation and is not meant for CI",
+)
+
+from lerobot.policies.factory import make_policy_config  # noqa: E402
+from lerobot.policies.wall_x import (  # noqa: E402
+    WallXConfig,
+    WallXPolicy,
+    make_wall_x_pre_post_processors,  # noqa: E402
+)
+from lerobot.utils.random_utils import set_seed  # noqa: E402
+
+def test_policy_instantiation():
+    # Create config
+    set_seed(42)
+    config = WallXConfig(device='cuda')
+
+    # Set up input_features and output_features in the config
+    from lerobot.configs.types import FeatureType, PolicyFeature
+
+    config.input_features = {
+        "observation.state": PolicyFeature(
+            type=FeatureType.STATE,
+            shape=(7,),
+        ),
+        "observation.images.face_view": PolicyFeature(
+            type=FeatureType.VISUAL,
+            shape=(3, 224, 224),
+        ),
+    }
+
+    config.output_features = {
+        "action": PolicyFeature(
+            type=FeatureType.ACTION,
+            shape=(7,),
+        ),
+    }
+
+    # Create dummy dataset stats
+    dataset_stats = {
+        "observation.state": {
+            "mean": torch.zeros(7),
+            "std": torch.ones(7),
+        },
+        "action": {
+            "mean": torch.zeros(7),
+            "std": torch.ones(7),
+        },
+        "observation.images.face_view": {
+            "mean": torch.zeros(3, 224, 224),
+            "std": torch.ones(3, 224, 224),
+        },
+    }
+
+    # Instantiate policy
+    policy = WallXPolicy(config)
+    preprocessor, postprocessor = make_wall_x_pre_post_processors(config=config, dataset_stats=dataset_stats)
+    # Test forward pass with dummy data
+    batch_size = 1
+    device = config.device
+    batch = {
+        "observation.state": torch.randn(batch_size, 7, dtype=torch.float32, device=device),
+        "action": torch.randn(batch_size, config.chunk_size, 7, dtype=torch.float32, device=device),
+        "observation.images.face_view": torch.rand(
+            batch_size, 3, 224, 224, dtype=torch.float32, device=device
+        ),  # Use rand for [0,1] range
+        "task": ["Pick up the object"] * batch_size,
+    }
+    batch = preprocessor(batch)
+    try:
+        loss, loss_dict = policy.forward(batch)
+        print(f"Forward pass successful. Loss: {loss_dict['loss']:.4f}")
+    except Exception as e:
+        print(f"Forward pass failed: {e}")
+        raise
+
+    try:
+        with torch.no_grad():
+            action = policy.select_action(batch)
+            action = postprocessor(action)
+            print(f"Action: {action}")
+        print(f"Action prediction successful. Action shape: {action.shape}")
+    except Exception as e:
+        print(f"Action prediction failed: {e}")
+        raise
+
+def test_config_creation():
+    """Test policy config creation through factory."""
+    try:
+        config = make_policy_config(
+            policy_type="wall_x",
+        )
+        print("Config created successfully through factory")
+        print(f"  Config type: {type(config).__name__}")
+    except Exception as e:
+        print(f"Config creation failed: {e}")
+        raise
+
+if __name__ == "__main__":
+    test_policy_instantiation()
+    test_config_creation()