| # # 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() | |