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"""Integration tests for dvnets tasks.""" |
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from absl.testing import absltest |
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from absl.testing import parameterized |
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from cliport import tasks |
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from cliport.environments import environment |
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ASSETS_PATH = 'cliport/environments/assets/' |
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class TaskTest(parameterized.TestCase): |
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def _create_env(self): |
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assets_root = ASSETS_PATH |
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env = environment.Environment(assets_root) |
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env.seed(0) |
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return env |
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def _run_oracle_in_env(self, env): |
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agent = env.task.oracle(env) |
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obs = env.reset() |
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info = None |
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done = False |
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for _ in range(10): |
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act = agent.act(obs, info) |
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obs, _, done, info = env.step(act) |
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if done: |
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break |
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@parameterized.named_parameters(( |
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'AlignBoxCorner', |
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tasks.AlignBoxCorner(), |
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), ( |
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'AssemblingKits', |
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tasks.AssemblingKits(), |
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), ( |
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'AssemblingKitsEasy', |
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tasks.AssemblingKitsEasy(), |
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), ( |
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'BlockInsertion', |
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tasks.BlockInsertion(), |
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), ( |
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'ManipulatingRope', |
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tasks.ManipulatingRope(), |
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), ( |
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'PackingBoxes', |
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tasks.PackingBoxes(), |
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), ( |
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'PalletizingBoxes', |
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tasks.PalletizingBoxes(), |
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), ( |
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'PlaceRedInGreen', |
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tasks.PlaceRedInGreen(), |
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), ( |
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'StackBlockPyramid', |
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tasks.StackBlockPyramid(), |
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), ( |
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'SweepingPiles', |
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tasks.SweepingPiles(), |
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), ( |
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'TowersOfHanoi', |
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tasks.TowersOfHanoi(), |
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), ( |
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'AlignRope', |
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tasks.AlignRope(), |
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), ( |
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'AssemblingKitsSeqSeenColors', |
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tasks.AssemblingKitsSeqSeenColors(), |
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), ( |
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'AssemblingKitsSeqUnseenColors', |
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tasks.AssemblingKitsSeqUnseenColors(), |
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), ( |
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'AssemblingKitsSeqFull', |
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tasks.AssemblingKitsSeqFull(), |
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), ( |
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'PackingShapes', |
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tasks.PackingShapes(), |
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), ( |
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'PackingBoxesPairsSeenColors', |
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tasks.PackingBoxesPairsSeenColors(), |
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), ( |
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'PackingBoxesPairsUnseenColors', |
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tasks.PackingBoxesPairsUnseenColors(), |
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), ( |
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'PackingBoxesPairsFull', |
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tasks.PackingBoxesPairsFull(), |
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), ( |
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'PackingSeenGoogleObjectsSeq', |
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tasks.PackingSeenGoogleObjectsSeq(), |
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), ( |
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'PackingUnseenGoogleObjectsSeq', |
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tasks.PackingUnseenGoogleObjectsSeq(), |
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), ( |
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'PackingSeenGoogleObjectsGroup', |
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tasks.PackingSeenGoogleObjectsGroup(), |
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), ( |
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'PackingUnseenGoogleObjectsGroup', |
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tasks.PackingUnseenGoogleObjectsGroup(), |
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), ( |
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'PutBlockInBowlSeenColors', |
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tasks.PutBlockInBowlSeenColors(), |
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), ( |
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'PutBlockInBowlUnseenColors', |
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tasks.PutBlockInBowlUnseenColors(), |
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), ( |
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'PutBlockInBowlFull', |
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tasks.PutBlockInBowlFull(), |
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), ( |
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'StackBlockPyramidSeqSeenColors', |
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tasks.StackBlockPyramidSeqSeenColors(), |
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), ( |
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'StackBlockPyramidSeqUnseenColors', |
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tasks.StackBlockPyramidSeqUnseenColors(), |
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), ( |
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'StackBlockPyramidSeqFull', |
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tasks.StackBlockPyramidSeqFull(), |
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), ( |
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'SeparatingPilesSeenColors', |
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tasks.SeparatingPilesUnseenColors(), |
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), ( |
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'SeparatingPilesUnseenColors', |
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tasks.SeparatingPilesUnseenColors(), |
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), ( |
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'SeparatingPilesFull', |
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tasks.SeparatingPilesFull(), |
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), ( |
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'TowersOfHanoiSeqSeenColors', |
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tasks.TowersOfHanoiSeqSeenColors(), |
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), ( |
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'TowersOfHanoiSeqUnseenColors', |
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tasks.TowersOfHanoiSeqUnseenColors(), |
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), ( |
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'TowersOfHanoiSeqFull', |
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tasks.TowersOfHanoiSeqFull(), |
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)) |
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def test_all_tasks(self, dvnets_task): |
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env = self._create_env() |
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env.set_task(dvnets_task) |
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self._run_oracle_in_env(env) |
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if __name__ == '__main__': |
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absltest.main() |
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