92 lines
3.8 KiB
Python
92 lines
3.8 KiB
Python
import fancy_gym
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import gym
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import pytest
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from test.utils import run_env
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ALL_SPECS = list(spec for spec in gym.envs.registry.all() if "alr_envs" in spec.entry_point)
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SEED = 1
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@pytest.mark.parametrize('env_id', fancy_gym.ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS['DMP'])
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def test_custom_dmp_functionality(env_id):
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"""Tests that environments runs without errors using random actions for custom DMP envs."""
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run_env(env_id)
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@pytest.mark.parametrize('env_id', fancy_gym.ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS['ProMP'])
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def test_custom_promp_functionality(env_id):
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"""Tests that environments runs without errors using random actions for custom ProMP envs."""
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run_env(env_id)
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def test_openai_environment_functionality(self):
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"""Tests that environments runs without errors using random actions for OpenAI gym MP envs."""
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with self.subTest(msg="DMP"):
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for env_id in alr_envs.ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS['DMP']:
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with self.subTest(msg=env_id):
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self.run_env(env_id)
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with self.subTest(msg="ProMP"):
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for env_id in alr_envs.ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS['ProMP']:
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with self.subTest(msg=env_id):
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self.run_env(env_id)
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def test_dmc_environment_functionality(self):
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"""Tests that environments runs without errors using random actions for DMC MP envs."""
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with self.subTest(msg="DMP"):
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for env_id in alr_envs.ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS['DMP']:
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with self.subTest(msg=env_id):
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self.run_env(env_id)
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with self.subTest(msg="ProMP"):
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for env_id in alr_envs.ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS['ProMP']:
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with self.subTest(msg=env_id):
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self.run_env(env_id)
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def test_metaworld_environment_functionality(self):
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"""Tests that environments runs without errors using random actions for Metaworld MP envs."""
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with self.subTest(msg="DMP"):
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for env_id in alr_envs.ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS['DMP']:
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with self.subTest(msg=env_id):
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self.run_env(env_id)
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with self.subTest(msg="ProMP"):
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for env_id in alr_envs.ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS['ProMP']:
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with self.subTest(msg=env_id):
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self.run_env(env_id)
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def test_alr_environment_determinism(self):
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"""Tests that identical seeds produce identical trajectories for ALR MP Envs."""
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with self.subTest(msg="DMP"):
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self._run_env_determinism(alr_envs.ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"])
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with self.subTest(msg="ProMP"):
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self._run_env_determinism(alr_envs.ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"])
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def test_openai_environment_determinism(self):
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"""Tests that identical seeds produce identical trajectories for OpenAI gym MP Envs."""
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with self.subTest(msg="DMP"):
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self._run_env_determinism(alr_envs.ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"])
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with self.subTest(msg="ProMP"):
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self._run_env_determinism(alr_envs.ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"])
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def test_dmc_environment_determinism(self):
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"""Tests that identical seeds produce identical trajectories for DMC MP Envs."""
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with self.subTest(msg="DMP"):
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self._run_env_determinism(alr_envs.ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"])
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with self.subTest(msg="ProMP"):
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self._run_env_determinism(alr_envs.ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"])
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def test_metaworld_environment_determinism(self):
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"""Tests that identical seeds produce identical trajectories for Metaworld MP Envs."""
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with self.subTest(msg="DMP"):
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self._run_env_determinism(alr_envs.ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"])
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with self.subTest(msg="ProMP"):
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self._run_env_determinism(alr_envs.ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"])
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