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"""
Tests for the provided examples in the repository. Excludes stdout output
by default (pass --verbose to see stdout output).
"""
import argparse
import traceback
import os
import subprocess
import time
import h5py
import numpy as np
import torch
from collections import OrderedDict
from termcolor import colored
import robomimic
import robomimic.utils.test_utils as TestUtils
import robomimic.utils.torch_utils as TorchUtils
from robomimic.utils.log_utils import silence_stdout
from robomimic.utils.torch_utils import dummy_context_mgr
def test_example_script(script_name, args_string, test_name, silence=True):
"""
Helper function to run an example script with filename @script_name and
with test name @test_name (which will be printed to terminal with
the stderr output of the example script).
"""
# run example script
stdout = subprocess.DEVNULL if silence else None
path_to_script = os.path.join(robomimic.__path__[0], "../examples/{}".format(script_name))
example_job = subprocess.Popen("python {} {}".format(path_to_script, args_string),
shell=True, stdout=stdout, stderr=subprocess.PIPE)
example_job.wait()
# get stderr output
out, err = example_job.communicate()
err = err.decode("utf-8")
if len(err) > 0:
ret = "maybe failed - stderr output below (if it's only from tqdm, the test passed)\n{}".format(err)
ret = colored(ret, "red")
else:
ret = colored("passed", "green")
print("{}: {}".format(test_name, ret))
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument(
"--verbose",
action='store_true',
help="don't suppress stdout during tests",
)
args = parser.parse_args()
test_example_script(
script_name="simple_config.py",
args_string="",
test_name="simple-config-example",
silence=(not args.verbose),
)
test_example_script(
script_name="simple_obs_nets.py",
args_string="",
test_name="simple-obs-nets-example",
silence=(not args.verbose),
)
test_example_script(
script_name="simple_train_loop.py",
args_string="",
test_name="simple-train-loop-example",
silence=(not args.verbose),
)
# clear tmp model dir before running script
TestUtils.maybe_remove_dir(TestUtils.temp_model_dir_path())
test_example_script(
script_name="train_bc_rnn.py",
args_string="--debug",
test_name="train-bc-rnn-example",
silence=(not args.verbose),
)
# cleanup
TestUtils.maybe_remove_dir(TestUtils.temp_model_dir_path())
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