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Pepijn
41 lines
1.7 KiB
Python
41 lines
1.7 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import numpy as np
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from lerobot.envs.vlabench import ACTION_HIGH, ACTION_LOW, VLABenchEnv
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def test_vlabench_action_space_uses_zero_to_one_gripper_channel():
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env = VLABenchEnv()
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np.testing.assert_array_equal(env.action_space.low, ACTION_LOW)
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np.testing.assert_array_equal(env.action_space.high, ACTION_HIGH)
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assert env.action_space.shape == (7,)
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assert env.action_space.low[-1] == 0.0
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assert env.action_space.high[-1] == 1.0
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np.testing.assert_array_equal(env.action_space.low[:6], np.full(6, -1.0, dtype=np.float32))
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np.testing.assert_array_equal(env.action_space.high[:6], np.full(6, 1.0, dtype=np.float32))
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def test_vlabench_gripper_action_normalization_keeps_backward_compatibility():
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assert VLABenchEnv._normalize_gripper_action(-1.0) == 0.0
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assert VLABenchEnv._normalize_gripper_action(-0.5) == 0.25
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assert VLABenchEnv._normalize_gripper_action(0.0) == 0.0
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assert VLABenchEnv._normalize_gripper_action(0.5) == 0.5
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assert VLABenchEnv._normalize_gripper_action(1.0) == 1.0
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assert VLABenchEnv._normalize_gripper_action(1.5) == 1.0
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