134 lines
4.2 KiB
Python
Executable File
134 lines
4.2 KiB
Python
Executable File
# Copyright 2017 The dm_control Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ============================================================================
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"""Tests for the pixel wrapper."""
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from __future__ import absolute_import
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from __future__ import division
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from __future__ import print_function
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import collections
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# Internal dependencies.
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from absl.testing import absltest
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from absl.testing import parameterized
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from local_dm_control_suite import cartpole
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from dm_control.suite.wrappers import pixels
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import dm_env
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from dm_env import specs
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import numpy as np
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class FakePhysics(object):
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def render(self, *args, **kwargs):
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del args
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del kwargs
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return np.zeros((4, 5, 3), dtype=np.uint8)
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class FakeArrayObservationEnvironment(dm_env.Environment):
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def __init__(self):
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self.physics = FakePhysics()
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def reset(self):
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return dm_env.restart(np.zeros((2,)))
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def step(self, action):
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del action
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return dm_env.transition(0.0, np.zeros((2,)))
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def action_spec(self):
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pass
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def observation_spec(self):
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return specs.Array(shape=(2,), dtype=np.float)
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class PixelsTest(parameterized.TestCase):
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@parameterized.parameters(True, False)
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def test_dict_observation(self, pixels_only):
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pixel_key = 'rgb'
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env = cartpole.swingup()
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# Make sure we are testing the right environment for the test.
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observation_spec = env.observation_spec()
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self.assertIsInstance(observation_spec, collections.OrderedDict)
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width = 320
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height = 240
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# The wrapper should only add one observation.
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wrapped = pixels.Wrapper(env,
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observation_key=pixel_key,
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pixels_only=pixels_only,
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render_kwargs={'width': width, 'height': height})
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wrapped_observation_spec = wrapped.observation_spec()
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self.assertIsInstance(wrapped_observation_spec, collections.OrderedDict)
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if pixels_only:
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self.assertLen(wrapped_observation_spec, 1)
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self.assertEqual([pixel_key], list(wrapped_observation_spec.keys()))
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else:
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expected_length = len(observation_spec) + 1
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self.assertLen(wrapped_observation_spec, expected_length)
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expected_keys = list(observation_spec.keys()) + [pixel_key]
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self.assertEqual(expected_keys, list(wrapped_observation_spec.keys()))
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# Check that the added spec item is consistent with the added observation.
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time_step = wrapped.reset()
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rgb_observation = time_step.observation[pixel_key]
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wrapped_observation_spec[pixel_key].validate(rgb_observation)
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self.assertEqual(rgb_observation.shape, (height, width, 3))
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self.assertEqual(rgb_observation.dtype, np.uint8)
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@parameterized.parameters(True, False)
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def test_single_array_observation(self, pixels_only):
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pixel_key = 'depth'
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env = FakeArrayObservationEnvironment()
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observation_spec = env.observation_spec()
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self.assertIsInstance(observation_spec, specs.Array)
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wrapped = pixels.Wrapper(env, observation_key=pixel_key,
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pixels_only=pixels_only)
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wrapped_observation_spec = wrapped.observation_spec()
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self.assertIsInstance(wrapped_observation_spec, collections.OrderedDict)
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if pixels_only:
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self.assertLen(wrapped_observation_spec, 1)
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self.assertEqual([pixel_key], list(wrapped_observation_spec.keys()))
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else:
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self.assertLen(wrapped_observation_spec, 2)
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self.assertEqual([pixels.STATE_KEY, pixel_key],
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list(wrapped_observation_spec.keys()))
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time_step = wrapped.reset()
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depth_observation = time_step.observation[pixel_key]
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wrapped_observation_spec[pixel_key].validate(depth_observation)
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self.assertEqual(depth_observation.shape, (4, 5, 3))
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self.assertEqual(depth_observation.dtype, np.uint8)
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if __name__ == '__main__':
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absltest.main()
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