File size: 3,398 Bytes
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 | # -*- coding: utf-8 -*-
"""
test_eepose_error_handling.py
=============================
Heavy test: Verifies that in the `ee_pose` action space, sending an unreachable
target position to the environment properly triggers an error caught by the
DemonstrationWrapper, returning info["status"] = "error" instead of crashing.
This test iterates over all 16 tasks defined in the benchmark.
Run with:
cd /data/hongzefu/robomme_benchmark
uv run python -m pytest tests/dataset/test_eepose_error_handling.py -v -s
"""
from __future__ import annotations
import sys
from pathlib import Path
import pytest
from tests._shared.repo_paths import find_repo_root
# Ensure the src directory is on the path
pytestmark = pytest.mark.dataset
_PROJECT_ROOT = find_repo_root(__file__)
sys.path.insert(0, str(_PROJECT_ROOT / "src"))
from robomme.env_record_wrapper import BenchmarkEnvBuilder
from robomme.robomme_env import * # noqa: F401,F403
# All 16 benchmark tasks
ALL_TASKS = [
"BinFill",
"PickXtimes",
"SwingXtimes",
"StopCube",
"VideoUnmask",
"VideoUnmaskSwap",
"ButtonUnmask",
"ButtonUnmaskSwap",
"PickHighlight",
"VideoRepick",
"VideoPlaceButton",
"VideoPlaceOrder",
"MoveCube",
"InsertPeg",
"PatternLock",
"RouteStick"
]
@pytest.mark.parametrize("task_id", ALL_TASKS)
def test_eepose_unreachable_action_status_error(task_id: str) -> None:
"""
Instantiate the environment for the given task with 'ee_pose' action space.
Send a completely unreachable position to provoke an IK/physics failure.
Assert that DemonstrationWrapper catches it and sets info["status"] = "error".
"""
print(f"\n[{task_id}] Building environment for ee_pose error handling test...")
env_builder = BenchmarkEnvBuilder(
env_id=task_id,
dataset="train",
action_space="ee_pose",
gui_render=False,
)
# We don't need all the observations for this test, keeping it lightweight
env = env_builder.make_env_for_episode(
episode_idx=0,
include_maniskill_obs=False,
)
try:
# 1. Reset the environment
env.reset()
# 2. Define an unreachable action
# The ee_pose space is (x, y, z, r, p, y, gripper)
# Coordinates (100.0, 100.0, 100.0) are far out of reach for the robot.
unreachable_action = [100.0, 100.0, 100.0, 0.0, 0.0, 0.0, 1.0]
# 3. Step the environment
obs, reward, terminated, truncated, info = env.step(unreachable_action)
# 4. Assertions
assert info is not None, "info dict should not be None"
status = info.get("status")
assert status == "error", f"Expected info['status'] == 'error', got {status!r}"
error_msg = info.get("error_message")
assert error_msg is not None, "Expected 'error_message' to be present in info"
assert isinstance(error_msg, str) and len(error_msg) > 0, (
f"Expected 'error_message' to be a non-empty string, got {error_msg!r}"
)
print(f"[{task_id}] ✓ Successfully caught error: {error_msg}")
finally:
env.close()
def main() -> None:
print("Run this test with pytest:")
print("uv run python -m pytest tests/dataset/test_eepose_error_handling.py -v -s")
sys.exit(2)
if __name__ == "__main__":
main()
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