File size: 5,698 Bytes
06c11b0 79a56bd 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 | from __future__ import annotations
from pathlib import Path
class _DummyPlanner:
def __init__(self, *args, **kwargs):
self.args = args
self.kwargs = kwargs
class _FakeRobot:
def __init__(self):
self.pose = object()
class _FakeAgent:
def __init__(self):
self.robot = _FakeRobot()
class _FakeUnwrapped:
def __init__(self):
self.agent = _FakeAgent()
self.segmentation_id_map = {}
def evaluate(self, solve_complete_eval=False):
return {"success": False, "fail": False}
class _FakeEnv:
def __init__(self):
self.unwrapped = _FakeUnwrapped()
self.demonstration_data = {"language goal": "test goal", "frames": ["f1", "f2"]}
self.non_demonstration_task_length = 7
self.frames = []
self.wrist_frames = []
self.closed = False
def reset(self):
return None
def close(self):
self.closed = True
class _FakeEnvTupleDemo(_FakeEnv):
def __init__(self):
super().__init__()
self.demonstration_data = (
{"front_rgb_list": ["tuple_f1", "tuple_f2"]},
None,
None,
None,
{"task_goal": ["tuple goal", "backup goal"]},
)
class _BuilderSuccess:
last_init_kwargs = None
def __init__(self, **kwargs):
type(self).last_init_kwargs = kwargs
def get_episode_num(self):
return 3
def resolve_episode(self, episode_idx):
return 123, "hard"
def make_env_for_episode(self, episode_idx):
return _FakeEnv()
class _BuilderTupleDemo(_BuilderSuccess):
def make_env_for_episode(self, episode_idx):
return _FakeEnvTupleDemo()
class _BuilderNoMetadata:
def __init__(self, **kwargs):
self.kwargs = kwargs
def get_episode_num(self):
return 0
class _BuilderRaiseOnMake:
def __init__(self, **kwargs):
self.kwargs = kwargs
def get_episode_num(self):
return 1
def resolve_episode(self, episode_idx):
return None, None
def make_env_for_episode(self, episode_idx):
raise RuntimeError("boom")
def test_load_episode_uses_benchmark_builder(monkeypatch, reload_module):
oracle_logic = reload_module("oracle_logic")
monkeypatch.setenv("ROBOMME_METADATA_ROOT", "/tmp/meta-root")
monkeypatch.setattr(oracle_logic, "BenchmarkEnvBuilder", _BuilderSuccess)
monkeypatch.setattr(oracle_logic, "FailAwarePandaArmMotionPlanningSolver", _DummyPlanner)
monkeypatch.setattr(oracle_logic, "FailAwarePandaStickMotionPlanningSolver", _DummyPlanner)
monkeypatch.setattr(oracle_logic.OracleSession, "update_observation", lambda self: ("IMG", "Ready"))
session = oracle_logic.OracleSession(dataset_root=None, gui_render=False)
img, msg = session.load_episode("BinFill", 1)
assert img == "IMG"
assert msg == "Ready"
assert session.env_id == "BinFill"
assert session.episode_idx == 1
assert session.seed == 123
assert session.difficulty == "hard"
assert session.language_goal == "test goal"
assert session.demonstration_frames == ["f1", "f2"]
init_kwargs = _BuilderSuccess.last_init_kwargs
assert init_kwargs["dataset"] == "train"
assert init_kwargs["action_space"] == "joint_angle"
assert init_kwargs["gui_render"] is False
assert init_kwargs["max_steps"] == 3000
assert init_kwargs["override_metadata_path"] == Path("/tmp/meta-root")
def test_load_episode_metadata_missing_returns_stable_error(monkeypatch, reload_module):
oracle_logic = reload_module("oracle_logic")
monkeypatch.setenv("ROBOMME_METADATA_ROOT", "/tmp/custom-metadata")
monkeypatch.setattr(oracle_logic, "BenchmarkEnvBuilder", _BuilderNoMetadata)
session = oracle_logic.OracleSession(dataset_root=None, gui_render=False)
img, msg = session.load_episode("RouteStick", 0)
assert img is None
assert "Dataset metadata not found or empty" in msg
assert "record_dataset_RouteStick_metadata.json" in msg
def test_load_episode_out_of_range_returns_stable_error(monkeypatch, reload_module):
oracle_logic = reload_module("oracle_logic")
monkeypatch.setattr(oracle_logic, "BenchmarkEnvBuilder", _BuilderSuccess)
session = oracle_logic.OracleSession(dataset_root=None, gui_render=False)
img, msg = session.load_episode("BinFill", 99)
assert img is None
assert "Episode index out of range" in msg
assert "valid 0-2" in msg
def test_load_episode_init_failure_is_caught(monkeypatch, reload_module):
oracle_logic = reload_module("oracle_logic")
monkeypatch.setattr(oracle_logic, "BenchmarkEnvBuilder", _BuilderRaiseOnMake)
session = oracle_logic.OracleSession(dataset_root=None, gui_render=False)
img, msg = session.load_episode("BinFill", 0)
assert img is None
assert msg.startswith("Error initializing episode:")
def test_load_episode_supports_tuple_demonstration_data(monkeypatch, reload_module):
oracle_logic = reload_module("oracle_logic")
monkeypatch.setattr(oracle_logic, "BenchmarkEnvBuilder", _BuilderTupleDemo)
monkeypatch.setattr(oracle_logic, "FailAwarePandaArmMotionPlanningSolver", _DummyPlanner)
monkeypatch.setattr(oracle_logic, "FailAwarePandaStickMotionPlanningSolver", _DummyPlanner)
monkeypatch.setattr(oracle_logic.OracleSession, "update_observation", lambda self: ("IMG", "Ready"))
session = oracle_logic.OracleSession(dataset_root=None, gui_render=False)
img, msg = session.load_episode("BinFill", 0)
assert img == "IMG"
assert msg == "Ready"
assert session.language_goal == "backup goal"
assert session.demonstration_frames == ["tuple_f1", "tuple_f2"]
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