add tests for replanning env & adapt observation space for box pushing & add max_planning_times to replanning tasks

test/test_replanning_envs.py

@@ -11,13 +11,13 @@ All_ProDMP_IDS = fancy_gym.ALL_MOVEMENT_PRIMITIVE_ENVIRONMENTS['ProDMP']
 
 
 
-@pytest.mark.parametrize('env_id', Fancy_ProDMP_IDS)
+@pytest.mark.parametrize('env_id', All_ProDMP_IDS)
 def test_replanning_envs(env_id: str):
     """Tests that ProDMP environments run without errors using random actions."""
-    run_env(env_id, iterations=4)
+    run_env(env_id)
 
-# @pytest.mark.parametrize('env_id', All_ProDMP_IDS)
-# def test_replanning_determinism(env_id: str):
-#     """Tests that ProDMP environments are deterministic."""
-#     run_env_determinism(env_id, 0)
+@pytest.mark.parametrize('env_id', All_ProDMP_IDS)
+def test_replanning_determinism(env_id: str):
+    """Tests that ProDMP environments are deterministic."""
+    run_env_determinism(env_id, 0)
 

test/utils.py

@@ -49,8 +49,8 @@ def run_env(env_id, iterations=None, seed=0, render=False):
 
         if done:
             break
-
-    assert done, "Done flag is not True after end of episode."
+    if not hasattr(env, "replanning_schedule"):
+        assert done, "Done flag is not True after end of episode."
     observations.append(obs)
     env.close()
     del env