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nv-sachdevkartik
68f869b7a0
The test loaded MODEL_PATH='aractingi/bimanual-handover-groot-10k', an N1.5 checkpoint (config base_model_path=nvidia/GR00T-N1.5-3B, no model_version). On load, model_version defaults to n1.7 while the base path infers n1.5, so the version-consistency guard in GrootConfig.__post_init__ raised ValueError and both test_lerobot_groot_inference and test_lerobot_groot_forward_pass failed. N1.5 is no longer a supported model_version. Adopt the test for N1.7: - MODEL_PATH -> nvidia/GR00T-N1.7-3B (root-level sharded safetensors; loads via GrootPolicy.from_pretrained as a base N1.7 model). - Embodiment tag 'gr1' (N1.5) -> 'gr1_unified' (valid N1.7 tag from the checkpoint embodiment_id.json), via a single EMBODIMENT_TAG constant. - DUMMY_ACTION_HORIZON 16 -> 40 to match N1.7's native action-chunk size. - Docstrings/labels updated to 'GR00T N1.7'. Both tests run and pass on CUDA; full tests/policies/groot/ suite is 73 passed / 0 failed / 0 skipped.