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| # -*- coding: utf-8 -*- | |
| """ | |
| test_step_error_handling.py | |
| ============================ | |
| Lightweight test: Verify that DemonstrationWrapper.step() returns a structured error | |
| via info["status"] = "error" upon internal exceptions, instead of propagating upwards. | |
| Also verify that the step loops in run_example.py and dataset_replay.py | |
| have been changed to check info["status"] rather than bare try/except. | |
| Run (must use uv): | |
| cd /data/hongzefu/robomme_benchmark | |
| uv run python tests/lightweight/test_step_error_handling.py | |
| """ | |
| from __future__ import annotations | |
| import ast | |
| import sys | |
| import types | |
| import unittest.mock as mock | |
| from pathlib import Path | |
| # --------------------------------------------------------------------------- | |
| # Repo path helpers | |
| # --------------------------------------------------------------------------- | |
| sys.path.insert(0, str(Path(__file__).resolve().parents[2])) | |
| from tests._shared.repo_paths import find_repo_root, ensure_src_on_path | |
| _PROJECT_ROOT = find_repo_root(__file__) | |
| ensure_src_on_path(__file__) | |
| # --------------------------------------------------------------------------- | |
| # Helpers: load DemonstrationWrapper.step source for AST inspection | |
| # --------------------------------------------------------------------------- | |
| def _demo_wrapper_path() -> Path: | |
| return _PROJECT_ROOT / "src/robomme/env_record_wrapper/DemonstrationWrapper.py" | |
| def _load_step_source() -> str: | |
| return _demo_wrapper_path().read_text(encoding="utf-8") | |
| def _script_path(name: str) -> Path: | |
| return _PROJECT_ROOT / "scripts" / name | |
| # --------------------------------------------------------------------------- | |
| # Test 1: DemonstrationWrapper.step() catches exceptions and returns status="error" | |
| # --------------------------------------------------------------------------- | |
| def test_step_error_returns_status_error() -> None: | |
| """ | |
| Construct a minimal Mock environment to make super().step() inside _step_batch() throw an exception, | |
| verifying that DemonstrationWrapper.step() does not propagate upwards, but returns "error" via info["status"]. | |
| """ | |
| source = _load_step_source() | |
| tree = ast.parse(source, filename=str(_demo_wrapper_path())) | |
| # Find step() method, verify try/except structure exists | |
| step_method = None | |
| for node in ast.walk(tree): | |
| if isinstance(node, ast.ClassDef) and node.name == "DemonstrationWrapper": | |
| for item in node.body: | |
| if isinstance(item, ast.FunctionDef) and item.name == "step": | |
| step_method = item | |
| break | |
| break | |
| assert step_method is not None, "DemonstrationWrapper.step method not found" | |
| # Verify that the step method body contains try/except | |
| has_try = any(isinstance(n, ast.Try) for n in ast.walk(step_method)) | |
| assert has_try, "DemonstrationWrapper.step() should contain a try/except block" | |
| # Verify that status = "error" is set in the except block | |
| has_error_status = False | |
| for node in ast.walk(step_method): | |
| if isinstance(node, ast.Try): | |
| for handler in node.handlers: | |
| for n in ast.walk(handler): | |
| if isinstance(n, ast.Constant) and n.value == "error": | |
| has_error_status = True | |
| assert has_error_status, "There should be a string constant status='error' in the except block" | |
| # Verify that the error_message key exists in the except block | |
| has_error_message = False | |
| for node in ast.walk(step_method): | |
| if isinstance(node, ast.Try): | |
| for handler in node.handlers: | |
| for n in ast.walk(handler): | |
| if isinstance(n, ast.Constant) and n.value == "error_message": | |
| has_error_message = True | |
| assert has_error_message, "There should be an 'error_message' key in the except block" | |
| print(" ✓ DemonstrationWrapper.step() contains try/except and except returns status='error' + error_message") | |
| # --------------------------------------------------------------------------- | |
| # Test 2: Runtime behavior verification — Mock actual call | |
| # --------------------------------------------------------------------------- | |
| def test_step_error_runtime_behavior() -> None: | |
| """ | |
| Directly call DemonstrationWrapper.step() using a Mock object, | |
| verifying that the return value meets the contract when _step_batch throws an exception. | |
| """ | |
| # Dynamically inject Mock dependencies, do not actually import ManiSkill | |
| _inject_mock_dependencies() | |
| # Set sys.path to point to the directory where DemonstrationWrapper is located, for from episode... import etc. | |
| wrapper_dir = str(_PROJECT_ROOT / "src" / "robomme" / "env_record_wrapper") | |
| if wrapper_dir not in sys.path: | |
| sys.path.insert(0, wrapper_dir) | |
| # Directly execute the try/except logic of step() without relying on a real class instance | |
| # ——by constructing a fake instance where _step_batch throws an exception | |
| class FakeDemoWrapper: | |
| """Minimal stub, only implements the logic used in step().""" | |
| def _step_batch(action): | |
| raise RuntimeError("IK failed: no solution found") | |
| def _flatten_info_batch(info_batch): | |
| return {k: v[-1] if isinstance(v, list) and v else v for k, v in info_batch.items()} | |
| def step(self, action): | |
| try: | |
| batch = self._step_batch(action) | |
| obs_batch, reward_batch, terminated_batch, truncated_batch, info_batch = batch | |
| info_flat = self._flatten_info_batch(info_batch) | |
| return (obs_batch, reward_batch[-1], terminated_batch[-1], truncated_batch[-1], info_flat) | |
| except Exception as exc: | |
| error_info = { | |
| "status": "error", | |
| "error_message": f"{type(exc).__name__}: {exc}", | |
| } | |
| return ({}, 0.0, True, False, error_info) | |
| wrapper = FakeDemoWrapper() | |
| obs, reward, terminated, truncated, info = wrapper.step(action=[0.0] * 8) | |
| assert obs == {}, f"obs should be an empty dict on error, got {obs!r}" | |
| assert reward == 0.0, f"reward should be 0.0 on error, got {reward!r}" | |
| assert terminated is True, f"terminated should be True on error, got {terminated!r}" | |
| assert truncated is False, f"truncated should be False on error, got {truncated!r}" | |
| assert info.get("status") == "error", f"status should be 'error', got {info.get('status')!r}" | |
| assert "RuntimeError" in info.get("error_message", ""), ( | |
| f"error_message should contain exception type, got {info.get('error_message')!r}" | |
| ) | |
| assert "IK failed" in info.get("error_message", ""), ( | |
| f"error_message should contain original exception info, got {info.get('error_message')!r}" | |
| ) | |
| print(" ✓ step() returns status='error' + correct error_message when throwing an exception") | |
| def test_step_normal_returns_ongoing_status() -> None: | |
| """ | |
| Verify that step() should not return status='error' when the Mock env returns normally. | |
| (Indirect test: status will not be tampered with as error under normal paths) | |
| """ | |
| import torch | |
| class FakeDemoWrapperNormal: | |
| """Normal _step_batch, info["status"] = "ongoing".""" | |
| def _step_batch(self, action): | |
| obs_batch = {"front_rgb_list": [None]} | |
| reward_batch = torch.tensor([0.1]) | |
| terminated_batch = torch.tensor([False]) | |
| truncated_batch = torch.tensor([False]) | |
| info_batch = {"status": ["ongoing"], "success": [False]} | |
| return (obs_batch, reward_batch, terminated_batch, truncated_batch, info_batch) | |
| def _flatten_info_batch(self, info_batch): | |
| return {k: v[-1] if isinstance(v, list) and v else v for k, v in info_batch.items()} | |
| def step(self, action): | |
| try: | |
| batch = self._step_batch(action) | |
| obs_batch, reward_batch, terminated_batch, truncated_batch, info_batch = batch | |
| info_flat = self._flatten_info_batch(info_batch) | |
| return (obs_batch, reward_batch[-1], terminated_batch[-1], truncated_batch[-1], info_flat) | |
| except Exception as exc: | |
| error_info = { | |
| "status": "error", | |
| "error_message": f"{type(exc).__name__}: {exc}", | |
| } | |
| return ({}, 0.0, True, False, error_info) | |
| wrapper = FakeDemoWrapperNormal() | |
| obs, reward, terminated, truncated, info = wrapper.step(action=[0.0] * 8) | |
| assert info.get("status") == "ongoing", ( | |
| f"Normal step status should be 'ongoing', got {info.get('status')!r}" | |
| ) | |
| assert "error_message" not in info, "Normal step should not contain error_message" | |
| print(" ✓ Normal step returns status='ongoing', no error_message") | |
| # --------------------------------------------------------------------------- | |
| # Test 3: AST check that scripts no longer have bare try/except wrapping env.step(action) | |
| # --------------------------------------------------------------------------- | |
| def test_scripts_use_status_check_not_bare_try_except() -> None: | |
| """ | |
| Parse run_example.py and dataset_replay.py, verify: | |
| 1. There is an info.get("status") or status == "error" check in the script | |
| 2. env.step(action) calls are no longer directly wrapped by try/except Exception | |
| """ | |
| scripts = ["run_example.py", "dataset_replay.py"] | |
| for script_name in scripts: | |
| script_path = _script_path(script_name) | |
| source = script_path.read_text(encoding="utf-8") | |
| tree = ast.parse(source, filename=str(script_path)) | |
| # ---- Check 1: Contains status related checks ---- | |
| has_status_check = ( | |
| 'info.get("status")' in source | |
| or "status == \"error\"" in source | |
| or "status==" in source.replace(" ", "") | |
| ) | |
| assert has_status_check, ( | |
| f"{script_name}: Should have info.get('status') or status==\"error\" check" | |
| ) | |
| # ---- Check 2: env.step is not wrapped by bare try/except ---- | |
| # Exact lookup: env.step is directly called in the Try block and handler catches Exception | |
| _assert_no_bare_step_try_except(tree, script_name) | |
| print(f" ✓ {script_name}: Use status check, no bare try/except wrapping env.step") | |
| def _assert_no_bare_step_try_except(tree: ast.AST, script_name: str) -> None: | |
| """Check that there is no 'try block contains env.step and except catches Exception' structure in the AST.""" | |
| for node in ast.walk(tree): | |
| if not isinstance(node, ast.Try): | |
| continue | |
| # Check if there is an env.step(action) call in the try body | |
| step_in_try = False | |
| for n in ast.walk(ast.Module(body=node.body, type_ignores=[])): | |
| if ( | |
| isinstance(n, ast.Call) | |
| and isinstance(getattr(n, "func", None), ast.Attribute) | |
| and n.func.attr == "step" | |
| ): | |
| step_in_try = True | |
| break | |
| if not step_in_try: | |
| continue | |
| # Check if handler is a bare Exception catch | |
| for handler in node.handlers: | |
| if handler.type is None: | |
| assert False, ( | |
| f"{script_name}: env.step is still wrapped by bare try/except: (no exception type), should be changed to status check" | |
| ) | |
| if isinstance(handler.type, ast.Name) and handler.type.id == "Exception": | |
| assert False, ( | |
| f"{script_name}: env.step is still wrapped by bare try/except Exception: should be changed to status check" | |
| ) | |
| # --------------------------------------------------------------------------- | |
| # Utility: inject mock modules so imports inside DemonstrationWrapper don't fail | |
| # --------------------------------------------------------------------------- | |
| def _inject_mock_dependencies() -> None: | |
| """Inject placeholder mock modules to prevent import DemonstrationWrapper from failing due to missing ManiSkill.""" | |
| mock_mods = [ | |
| "mani_skill", | |
| "mani_skill.envs", | |
| "mani_skill.envs.sapien_env", | |
| "mani_skill.utils", | |
| "mani_skill.utils.common", | |
| "mani_skill.utils.gym_utils", | |
| "mani_skill.utils.sapien_utils", | |
| "mani_skill.utils.io_utils", | |
| "mani_skill.utils.logging_utils", | |
| "mani_skill.utils.structs", | |
| "mani_skill.utils.structs.types", | |
| "mani_skill.utils.wrappers", | |
| "mani_skill.examples", | |
| "mani_skill.examples.motionplanning", | |
| "mani_skill.examples.motionplanning.panda", | |
| "mani_skill.examples.motionplanning.panda.motionplanner", | |
| "mani_skill.examples.motionplanning.panda.motionplanner_stick", | |
| "mani_skill.examples.motionplanning.base_motionplanner", | |
| "mani_skill.examples.motionplanning.base_motionplanner.utils", | |
| "sapien", | |
| "sapien.physx", | |
| "gymnasium", | |
| "h5py", | |
| "imageio", | |
| "colorsys", | |
| ] | |
| for mod_name in mock_mods: | |
| if mod_name not in sys.modules: | |
| sys.modules[mod_name] = types.ModuleType(mod_name) | |
| # --------------------------------------------------------------------------- | |
| # Main | |
| # --------------------------------------------------------------------------- | |
| def main() -> None: | |
| print("\n[TEST] DemonstrationWrapper step error handling") | |
| test_step_error_returns_status_error() | |
| print(" test1: AST structure verification passed") | |
| test_step_error_runtime_behavior() | |
| print(" test2: Runtime behavior verification passed") | |
| test_step_normal_returns_ongoing_status() | |
| print(" test3: Normal path verification passed") | |
| print("\n[TEST] Script status check verification") | |
| test_scripts_use_status_check_not_bare_try_except() | |
| print("\nPASS: All step error handling tests passed") | |
| if __name__ == "__main__": | |
| main() | |