added test for env loading

tests/test_env_load_arena.py

@@ -0,0 +1,44 @@
+import logging
+from dataclasses import asdict, dataclass
+from pprint import pformat
+import torch
+import tqdm
+from lerobot import envs
+from lerobot.configs import parser
+from lerobot.configs.eval import EvalPipelineConfig
+
+
+@parser.wrap()
+def main(cfg: EvalPipelineConfig):
+    """Run zero action rollout for IsaacLab Arena environment."""
+    logging.info(pformat(asdict(cfg)))
+
+    from lerobot.envs.factory import make_env
+
+    # hub_path = cfg.env.hub_path
+    env_dict = make_env(
+        cfg.env,
+        n_envs=cfg.env.num_envs,
+        trust_remote_code=True,
+    )
+    env = next(iter(env_dict.values()))[0]
+
+    try:
+        env.reset()
+
+        for _ in tqdm.tqdm(range(cfg.env.episode_length)):
+            with torch.inference_mode():
+                action_dim = env.action_space.shape[-1]
+                actions = torch.zeros(
+                    (env.num_envs, action_dim), device=env.device
+                )
+                obs, rewards, terminated, truncated, info = env.step(actions)
+                print(obs.keys())
+                print(obs["policy"].keys())
+                print(obs["camera_obs"].keys())
+    finally:
+        env.close()
+
+
+if __name__ == "__main__":
+    main()