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updated tests for dm_control

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This commit is contained in:
Fabian 2023-01-12 17:36:33 +01:00
parent 9ebc021ae0
commit ec2063aa0b
2 changed files with 12 additions and 10 deletions
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14
test/test_dmc_envs.py
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@ -11,21 +11,23 @@ from test.utils import run_env, run_env_determinism
# SUITE_IDS = [f'dmc:{env}-{task}' for env, task in suite.ALL_TASKS if env != "lqr"]
# MANIPULATION_IDS = [f'dmc:manipulation-{task}' for task in manipulation.ALL if task.endswith('_features')]
DM_CONTROL_IDS = [spec.id for spec in gym.envs.registry.values() if
not isinstance(spec.entry_point, Callable) and spec.entry_point.startswith('dm_control/')]
DMC_MP_IDS = 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]
DM_control_MP_IDS = chain(*fancy_gym.ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS.values())
SEED = 1
@pytest.mark.parametrize('env_id', DM_CONTROL_IDS)
def test_step_dm_control_functionality(env_id: str):
"""Tests that suite step environments run without errors using random actions."""
run_env(env_id)
run_env(env_id, 1000)
@pytest.mark.parametrize('env_id', DM_CONTROL_IDS)
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)
run_env_determinism(env_id, SEED, 1000)
# @pytest.mark.parametrize('env_id', MANIPULATION_IDS)
@ -40,13 +42,13 @@ def test_step_dm_control_determinism(env_id: str):
# run_env_determinism(env_id, SEED)
@pytest.mark.parametrize('env_id', DMC_MP_IDS)
@pytest.mark.parametrize('env_id', DM_control_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)
@pytest.mark.parametrize('env_id', DM_control_MP_IDS)
def test_bb_dmc_determinism(env_id: str):
"""Tests that for black box environment identical seeds produce identical trajectories."""
run_env_determinism(env_id, SEED)

8
test/utils.py
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@ -53,16 +53,16 @@ def run_env(env_id, iterations=None, seed=0, render=False):
if terminated or truncated:
break
assert terminated or truncated, "Termination or truncation flag is not True after end of episode."
assert terminated or truncated, f"Termination or truncation flag is not True after {i + 1} iterations."
observations.append(obs)
env.close()
del env
return np.array(observations), np.array(rewards), np.array(terminations), np.array(truncations), np.array(actions)
def run_env_determinism(env_id: str, seed: int):
traj1 = run_env(env_id, seed=seed)
traj2 = run_env(env_id, seed=seed)
def run_env_determinism(env_id: str, seed: int, iterations: int = None):
traj1 = run_env(env_id, iterations=iterations, seed=seed)
traj2 = run_env(env_id, iterations=iterations, seed=seed)
# Iterate over two trajectories, which should have the same state and action sequence
for i, time_step in enumerate(zip(*traj1, *traj2)):
obs1, rwd1, term1, trunc1, ac1, obs2, rwd2, term2, trunc2, ac2 = time_step