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fix(sim): split transfer and air-insert camera sets

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This commit is contained in:
Logic
2026-05-03 10:14:04 +08:00
parent b1116e489f
commit bc4caf355b
7 changed files with 26 additions and 36 deletions
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12
tests/test_eval_vla_headless.py
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@@ -74,7 +74,7 @@ class _FakeRenderer:
self._env = env
self._frames = [
np.full((4, 4, 3), fill_value=index, dtype=np.uint8)
for index in range(5)
for index in range(8)
]
self._index = 0
@@ -144,7 +144,7 @@ class EvalVLAHeadlessTest(unittest.TestCase):
is_render=False,
control_freq=30,
is_interpolate=True,
cam_view="left_side",
cam_view="top",
)
def test_headless_sync_camera_capture_populates_images_without_gui_calls(self):
@@ -153,11 +153,10 @@ class EvalVLAHeadlessTest(unittest.TestCase):
env.mj_data = object()
env.exit_flag = False
env.is_render = False
env.cam = 'angle'
env.cam = 'top'
env.r_vis = None
env.l_vis = None
env.top = None
env.angle = None
env.front = None
env._offscreen_renderer = None
@@ -176,7 +175,6 @@ class EvalVLAHeadlessTest(unittest.TestCase):
self.assertIsNotNone(env.r_vis)
self.assertIsNotNone(env.l_vis)
self.assertIsNotNone(env.top)
self.assertIsNotNone(env.angle)
self.assertIsNotNone(env.front)
def test_cam_start_skips_background_thread_when_headless(self):
@@ -196,11 +194,10 @@ class EvalVLAHeadlessTest(unittest.TestCase):
env.mj_data = object()
env.exit_flag = False
env.is_render = False
env.cam = "left_side"
env.cam = "top"
env.r_vis = None
env.l_vis = None
env.top = None
env.left_side = None
env.front = None
with mock.patch(
@@ -217,7 +214,6 @@ class EvalVLAHeadlessTest(unittest.TestCase):
self.assertIsNotNone(env.r_vis)
self.assertIsNotNone(env.l_vis)
self.assertIsNotNone(env.top)
self.assertIsNotNone(env.left_side)
self.assertIsNotNone(env.front)
def test_eval_main_headless_skips_render_and_still_executes_policy(self):