[ref] clean up test by using config from main repo

dexsuite · Aug 28, 2023 · 67f3aaf · 67f3aaf
1 parent fc7b9d9
commit 67f3aaf
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Showing 3 changed files with 19 additions and 21 deletions.
diff --git a/tests/test_retargeting_config.py b/tests/test_retargeting_config.py
@@ -4,7 +4,24 @@
 
 from dex_retargeting.retargeting_config import RetargetingConfig
 from dex_retargeting.seq_retarget import SeqRetargeting
-from utils import VECTOR_CONFIG_DICT, POSITION_CONFIG_DICT, DEXPILOT_CONFIG_DICT
+
+VECTOR_CONFIG_DICT = {
+    "allegro_right": "teleop/allegro_hand_right.yml",
+    "allegro_left": "teleop/allegro_hand_left.yml",
+    "shadow_right": "teleop/shadow_hand_right.yml",
+    "svh_right": "teleop/schunk_svh_hand_right.yml",
+}
+POSITION_CONFIG_DICT = {
+    "allegro_right": "offline/allegro_hand_right.yml",
+    # "allegro_left": "offline/allegro_hand_left.yml",
+    # "shadow_right": "offline/shadow_hand_right.yml",
+    # "svh_right": "offline/schunk_svh_hand_right.yml",
+}
+DEXPILOT_CONFIG_DICT = {
+    "allegro_right": "teleop/allegro_hand_right_dexpilot.yml",
+}
+
+ROBOT_NAMES = list(VECTOR_CONFIG_DICT.keys())
 
 
 class TestRetargetingConfig:

diff --git a/tests/test_sapien_optimizer.py b/tests/test_sapien_optimizer.py
@@ -5,12 +5,10 @@
 import pytest
 import sapien.core as sapien
 
+from dex_retargeting.constants import ROBOT_NAMES, get_config_path, RetargetingType, HandType
 from dex_retargeting.optimizer import VectorOptimizer, PositionOptimizer
 from dex_retargeting.retargeting_config import RetargetingConfig
 
-# from utils import ROBOT_NAMES, VECTOR_CONFIG_DICT, POSITION_CONFIG_DICT
-from dex_retargeting.constants import ROBOT_NAMES, get_config_path, RetargetingType, HandType
-
 
 class TestVectorOptimizer:
     np.set_printoptions(precision=4)

diff --git a/tests/utils.py b/tests/utils.py