File size: 7,042 Bytes
06c11b0 a64124d 06c11b0 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 | from __future__ import annotations
import numpy as np
class _FakeUnwrapped:
def __init__(self):
self.segmentation_id_map = {}
class _FakeEnv:
def __init__(self):
self.unwrapped = _FakeUnwrapped()
self.frames = [np.zeros((8, 8, 3), dtype=np.uint8)]
self.wrist_frames = []
class _FakeObsWrapperEnv:
def __init__(self, front_rgb_list, wrist_rgb_list):
self.unwrapped = _FakeUnwrapped()
self._last_obs = {
"front_rgb_list": front_rgb_list,
"wrist_rgb_list": wrist_rgb_list,
}
def test_available_options_use_label_plus_action(monkeypatch, reload_module):
oracle_logic = reload_module("oracle_logic")
monkeypatch.setattr(
oracle_logic,
"_fetch_segmentation",
lambda env: np.zeros((1, 8, 8), dtype=np.int64),
)
monkeypatch.setattr(
oracle_logic,
"_build_solve_options",
lambda env, planner, selected_target, env_id: [
{"label": "a", "action": "pick up the cube", "available": [1]},
{"label": "b", "action": "put it down", "available": []},
],
)
session = oracle_logic.OracleSession(dataset_root=None, gui_render=False)
session.env = _FakeEnv()
session.planner = object()
session.env_id = "BinFill"
session.color_map = {}
_img, msg = session.update_observation()
assert msg == "Ready"
assert session.available_options == [
("a. pick up the cube", 0),
("b. put it down", 1),
]
assert session.raw_solve_options[0]["label"] == "a"
def test_build_solve_options_filters_press_button_for_video_place_envs(monkeypatch, reload_module):
oracle_logic = reload_module("oracle_logic")
base_options = [
{"label": "a", "action": "pick up the cube", "available": [1]},
{"label": "b", "action": "drop onto", "available": [2]},
{"label": "c", "action": "press the button"},
]
monkeypatch.setattr(
oracle_logic,
"get_vqa_options",
lambda env, planner, selected_target, env_id: list(base_options),
)
filtered_button = oracle_logic._build_solve_options(None, None, {}, "VideoPlaceButton")
filtered_order = oracle_logic._build_solve_options(None, None, {}, "VideoPlaceOrder")
unfiltered_other = oracle_logic._build_solve_options(None, None, {}, "ButtonUnmask")
assert [opt["label"] for opt in filtered_button] == ["a", "b"]
assert [opt["action"] for opt in filtered_button] == ["pick up the cube", "drop onto"]
assert [opt["label"] for opt in filtered_order] == ["a", "b"]
assert [opt["action"] for opt in unfiltered_other] == [
"pick up the cube",
"drop onto",
"press the button",
]
def test_update_observation_no_seg_vis_base_fallback(monkeypatch, reload_module):
oracle_logic = reload_module("oracle_logic")
seg_vis = np.zeros((6, 6, 3), dtype=np.uint8)
seg_vis[:, :, 0] = 10 # B
seg_vis[:, :, 1] = 20 # G
seg_vis[:, :, 2] = 30 # R
monkeypatch.setattr(
oracle_logic,
"_fetch_segmentation",
lambda env: np.zeros((1, 6, 6), dtype=np.int64),
)
monkeypatch.setattr(
oracle_logic,
"_prepare_segmentation_visual",
lambda seg, color_map, hw: (seg_vis, np.zeros((6, 6), dtype=np.int64)),
)
monkeypatch.setattr(
oracle_logic,
"_build_solve_options",
lambda env, planner, selected_target, env_id: [],
)
session = oracle_logic.OracleSession(dataset_root=None, gui_render=False)
session.env = type(
"_NoFrameEnv",
(),
{"unwrapped": _FakeUnwrapped(), "frames": [], "wrist_frames": []},
)()
session.planner = object()
session.env_id = "BinFill"
session.color_map = {}
_img, msg = session.update_observation(use_segmentation=False)
assert msg == "Ready"
assert len(session.base_frames) == 0
pil_img = session.get_pil_image(use_segmented=False)
assert pil_img.size == (255, 255)
def test_update_observation_uses_only_front_rgb_list(monkeypatch, reload_module):
oracle_logic = reload_module("oracle_logic")
monkeypatch.setattr(
oracle_logic,
"_fetch_segmentation",
lambda env: np.zeros((1, 8, 8), dtype=np.int64),
)
monkeypatch.setattr(
oracle_logic,
"_build_solve_options",
lambda env, planner, selected_target, env_id: [],
)
f1 = np.full((8, 8, 3), 11, dtype=np.uint8)
f2 = np.full((8, 8, 3), 22, dtype=np.uint8)
session = oracle_logic.OracleSession(dataset_root=None, gui_render=False)
session.env = _FakeObsWrapperEnv(front_rgb_list=[f1, f2], wrist_rgb_list=[])
session.planner = object()
session.env_id = "BinFill"
session.color_map = {}
_img, msg = session.update_observation(use_segmentation=False)
assert msg == "Ready"
assert len(session.base_frames) == 2
assert len(session.wrist_frames) == 0
assert session.base_frames[-1][0, 0, 0] == 22
def test_update_observation_does_not_duplicate_same_last_obs(monkeypatch, reload_module):
oracle_logic = reload_module("oracle_logic")
monkeypatch.setattr(
oracle_logic,
"_fetch_segmentation",
lambda env: np.zeros((1, 8, 8), dtype=np.int64),
)
monkeypatch.setattr(
oracle_logic,
"_build_solve_options",
lambda env, planner, selected_target, env_id: [],
)
f1 = np.full((8, 8, 3), 10, dtype=np.uint8)
f2 = np.full((8, 8, 3), 20, dtype=np.uint8)
env = _FakeObsWrapperEnv(front_rgb_list=[f1, f2], wrist_rgb_list=[])
session = oracle_logic.OracleSession(dataset_root=None, gui_render=False)
session.env = env
session.planner = object()
session.env_id = "BinFill"
session.color_map = {}
session.update_observation(use_segmentation=False)
session.update_observation(use_segmentation=False)
assert len(session.base_frames) == 2
f3 = np.full((8, 8, 3), 30, dtype=np.uint8)
env._last_obs = {"front_rgb_list": [f3], "wrist_rgb_list": []}
session.update_observation(use_segmentation=False)
assert len(session.base_frames) == 3
assert session.base_frames[-1][0, 0, 0] == 30
def test_update_observation_does_not_fallback_to_env_frames(monkeypatch, reload_module):
oracle_logic = reload_module("oracle_logic")
monkeypatch.setattr(
oracle_logic,
"_fetch_segmentation",
lambda env: np.zeros((1, 8, 8), dtype=np.int64),
)
monkeypatch.setattr(
oracle_logic,
"_build_solve_options",
lambda env, planner, selected_target, env_id: [],
)
env = _FakeEnv()
env.frames = [np.full((8, 8, 3), 99, dtype=np.uint8)]
session = oracle_logic.OracleSession(dataset_root=None, gui_render=False)
session.env = env
session.planner = object()
session.env_id = "BinFill"
session.color_map = {}
_img, msg = session.update_observation(use_segmentation=False)
assert msg == "Ready"
assert session.base_frames == []
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