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Various fixed to tests

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This commit is contained in:
Dominik Moritz Roth 2023-08-14 16:47:05 +02:00
parent 5b99227fac
commit 78823d95b6
7 changed files with 14 additions and 26 deletions
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6
test/test_black_box.py
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@ -10,13 +10,12 @@ from gymnasium.core import ActType, ObsType
import fancy_gym
from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
from fancy_gym.utils.wrappers import TimeAwareObservation
from test.utils import ugly_hack_to_mitigate_metaworld_bug
SEED = 1
ENV_IDS = ['fancy/Reacher5d-v0', 'dm_control/ball_in_cup-catch-v0', 'metaworld/reach-v2', 'Reacher-v2']
WRAPPERS = [fancy_gym.envs.mujoco.reacher.MPWrapper, fancy_gym.dmc.suite.ball_in_cup.MPWrapper,
fancy_gym.meta.goal_object_change_mp_wrapper.MPWrapper, fancy_gym.open_ai.mujoco.reacher_v2.MPWrapper]
ALL_MP_ENVS = chain(*fancy_gym.ALL_MOVEMENT_PRIMITIVE_ENVIRONMENTS.values())
ALL_MP_ENVS = fancy_gym.ALL_MOVEMENT_PRIMITIVE_ENVIRONMENTS['all']
MAX_STEPS_FALLBACK = 100
@ -129,7 +128,7 @@ def test_length(mp_type: str, env_wrap: Tuple[str, Type[RawInterfaceWrapper]]):
for i in range(5):
env.reset(seed=SEED)
ugly_hack_to_mitigate_metaworld_bug(env) # TODO: Remove, when metaworld fixed it upstream
_obs, _reward, _terminated, _truncated, info = env.step(env.action_space.sample())
length = info['trajectory_length']
@ -336,7 +335,6 @@ def test_learn_tau_and_delay(mp_type: str, tau: float, delay: float):
for i in range(5):
if done:
env.reset(seed=SEED)
ugly_hack_to_mitigate_metaworld_bug(env)
action = env.action_space.sample()
action[0] = tau
action[1] = delay

10
test/test_dmc_envs.py
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@ -8,10 +8,10 @@ import fancy_gym
from test.utils import run_env, run_env_determinism
DMC_IDS = [spec.id for spec in gym.envs.registry.values() if
spec.id.startswith('dm_control/')
and 'compatibility-env-v0' not in spec.id
and 'lqr-lqr' not in spec.id]
DMC_MP_IDS = list(chain(*fancy_gym.ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS.values()))
spec.id.startswith('dm_control/')
and 'compatibility-env-v0' not in spec.id
and 'lqr-lqr' not in spec.id]
DMC_MP_IDS = fancy_gym.ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS['all']
SEED = 1
@ -26,11 +26,13 @@ def test_step_dm_control_determinism(env_id: str):
"""Tests that for step environments identical seeds produce identical trajectories."""
run_env_determinism(env_id, SEED, 5000, wrappers=[gym.wrappers.FlattenObservation])
@pytest.mark.parametrize('env_id', DMC_MP_IDS)
def test_bb_dmc_functionality(env_id: str):
"""Tests that black box environments run without errors using random actions."""
run_env(env_id)
@pytest.mark.parametrize('env_id', DMC_MP_IDS)
def test_bb_dmc_determinism(env_id: str):
"""Tests that for black box environment identical seeds produce identical trajectories."""

2
test/test_fancy_envs.py
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@ -10,7 +10,7 @@ from test.utils import run_env, run_env_determinism
CUSTOM_IDS = [id for id, spec in gym.envs.registry.items() if
not isinstance(spec.entry_point, Callable) and
"fancy_gym" in spec.entry_point and 'make_bb_env_helper' not in spec.entry_point]
CUSTOM_MP_IDS = list(chain(*fancy_gym.ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS.values()))
CUSTOM_MP_IDS = fancy_gym.ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS['all']
SEED = 1

2
test/test_gym_envs.py
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@ -14,7 +14,7 @@ GYM_IDS = [spec.id for spec in gym.envs.registry.values() if
and 'jax' not in spec.id.lower()
and not re.match(r'GymV2.Environment', spec.id)
]
GYM_MP_IDS = list(chain(*fancy_gym.ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS.values()))
GYM_MP_IDS = fancy_gym.ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS['all']
SEED = 1

2
test/test_metaworld_envs.py
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@ -8,7 +8,7 @@ from test.utils import run_env, run_env_determinism
METAWORLD_IDS = [f'metaworld:{env.split("-goal-observable")[0]}' for env, _ in
ALL_V2_ENVIRONMENTS_GOAL_OBSERVABLE.items()]
METAWORLD_MP_IDS = list(chain(*fancy_gym.ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS.values()))
METAWORLD_MP_IDS = fancy_gym.ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS['all']
SEED = 1

8
test/test_replanning_sequencing.py
View File

@ -13,13 +13,12 @@ import fancy_gym
from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
from fancy_gym.utils.wrappers import TimeAwareObservation
from fancy_gym.utils.make_env_helpers import ensure_finite_time
from test.utils import ugly_hack_to_mitigate_metaworld_bug
SEED = 1
ENV_IDS = ['fancy/Reacher5d-v0', 'dmc/ball_in_cup-catch-v0', 'metaworld/reach-v2', 'Reacher-v2']
ENV_IDS = ['fancy/Reacher5d-v0', 'dm_control/ball_in_cup-catch-v0', 'metaworld/reach-v2', 'Reacher-v2']
WRAPPERS = [fancy_gym.envs.mujoco.reacher.MPWrapper, fancy_gym.dmc.suite.ball_in_cup.MPWrapper,
fancy_gym.meta.goal_object_change_mp_wrapper.MPWrapper, fancy_gym.open_ai.mujoco.reacher_v2.MPWrapper]
ALL_MP_ENVS = chain(*fancy_gym.ALL_MOVEMENT_PRIMITIVE_ENVIRONMENTS.values())
ALL_MP_ENVS = fancy_gym.ALL_MOVEMENT_PRIMITIVE_ENVIRONMENTS['all']
MAX_STEPS_FALLBACK = 50
@ -94,7 +93,7 @@ def test_learn_sub_trajectories(mp_type: str, env_wrap: Tuple[str, Type[RawInter
for i in range(25):
if done:
env.reset(seed=SEED)
ugly_hack_to_mitigate_metaworld_bug(env) # TODO: Remove, when metaworld fixed it upstream
action = env.action_space.sample()
_obs, _reward, terminated, truncated, info = env.step(action)
done = terminated or truncated
@ -159,7 +158,6 @@ def test_replanning_time(mp_type: str, env_wrap: Tuple[str, Type[RawInterfaceWra
print(done, (i + 1), episode_steps)
assert (i + 1) % episode_steps == 0
env.reset(seed=SEED)
ugly_hack_to_mitigate_metaworld_bug(env) # TODO: Remove, when metaworld fixed it upstream
assert replanning_schedule(None, None, None, None, length)

10
test/utils.py
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@ -100,13 +100,3 @@ def verify_reward(reward):
def verify_done(done):
assert isinstance(
done, bool), f"Returned {done} as done flag, expected bool."
def ugly_hack_to_mitigate_metaworld_bug(env):
head = env
try:
for i in range(16):
head.curr_path_length = 0
head = head.env
except:
pass