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# # coding=utf-8
# # Copyright 2022 The Reach ML Authors.
# #
# # Licensed under the Apache License, Version 2.0 (the "License");
# # you may not use this file except in compliance with the License.
# # You may obtain a copy of the License at
# #
# # http://www.apache.org/licenses/LICENSE-2.0
# #
# # Unless required by applicable law or agreed to in writing, software
# # distributed under the License is distributed on an "AS IS" BASIS,
# # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# # See the License for the specific language governing permissions and
# # limitations under the License.
# """Tests for envs.utils_pybullet."""
# import os
# import tempfile
# from ..block_pushing import block_pushing
# from .utils_pybullet import read_pybullet_state
# from .utils_pybullet import write_pybullet_state
# import numpy as np
# import tensorflow.compat.v2 as tf
# from tf_agents.environments import suite_gym
# class PybulletStateTest(tf.test.TestCase):
# def test_serialize_deserialize(self):
# for env_name in [block_pushing.build_env_name("PUSH", False, False)]:
# env = suite_gym.load(env_name)
# state = [env.get_pybullet_state()]
# task = "test"
# # Serialize the state to file.
# filename = os.path.join(
# tempfile.mkdtemp(dir=self.get_temp_dir()), env_name + ".json.zip"
# )
# actions = np.random.rand(1, 2).tolist()
# write_pybullet_state(filename, state, task, actions=actions)
# self.assertTrue(tf.io.gfile.exists(filename))
# data = read_pybullet_state(filename)
# self.assertEqual(data["task"], task)
# self.assertEqual(data["pybullet_state"], state)
# self.assertEqual(data["actions"], actions)
# # Set the state largely for code coverage.
# env.set_pybullet_state(data["pybullet_state"][0])
# if __name__ == "__main__":
# tf.test.main()
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