def test_random_no_dislocation_2():
"""
Check if dislocations are drawn, and are properly applicated (
should not impact the last reward, should be observable in next state).
"""
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=1,
log_state_csv_freq=1,
log_state_render_freq=1)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=50 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = focal_point_env_fn(trajactory_logger,
probe_generator=probe_generator,
probe_dislocation_prob=.5,
dislocation_seed=None,
max_probe_dislocation=2,
step_size=5 / 1000)
env.reset()
env.step(1)
env.step(1)
env.step(2)
env.step(2)
env.step(1)
env.step(1)
env.step(2)
env.step(2)
def test_rotate_2():
"""
left, left, rotate, rotate, right, right, right, rotate, rotate
"""
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=1,
log_state_csv_freq=1,
log_state_render_freq=1)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=50 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = plane_task_env_fn(trajactory_logger,
probe_generator=probe_generator,
rot_deg=10,
step_size=5 / 1000)
env.reset()
env.step(1)
env.step(1)
env.step(4)
env.step(4)
env.step(2)
env.step(2)
env.step(2)
env.step(3)
env.step(3)
def test_random_dislocation_1():
"""
Just check if dislocation are drawn for this env.
"""
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=1,
log_state_csv_freq=1,
log_state_render_freq=1)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=50 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = focal_point_env_fn(trajactory_logger,
probe_generator=probe_generator,
probe_dislocation_prob=.5,
dislocation_seed=42,
max_probe_dislocation=2)
env.reset()
env.step(0)
env.step(0)
env.step(0)
env.step(0)
env.step(0)
env.step(0)
env.step(0)
env.step(0)
env.step(0)
def test_deep_focus():
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=1,
log_state_csv_freq=1,
log_state_render_freq=1)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=0 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = focal_point_env_fn(trajactory_logger,
probe_generator=probe_generator)
env.reset()
env.step(4) # down - 10
env.step(4) # 20
env.step(4) # 30
env.step(4) # 40
env.step(4) # 50
env.step(4) # 60
env.step(4) # 70
env.step(4) # 80
env.step(4) # 90
def test_cannot_move_probe_outside_phantom_area():
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=10,
log_state_csv_freq=10,
log_state_render_freq=10)
probe = Probe(
pos=np.array([-20 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=10 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = focal_point_env_fn(trajactory_logger,
probe_generator=probe_generator)
env.reset()
env.step(1) # left - BUMP
env.step(2) # right # -10
env.step(2) # right # 0
env.step(2) # right # 10
env.step(2) # right # 20
env.step(2) # right # 20 - BUMP
env.step(3) # up # 0
env.step(3) # up # 0 - BUMP
env.step(4) # down # 10
env.step(4) # down # 20
env.step(4) # down # 30
env.step(4) # down # 40
env.step(4) # down # 50
env.step(4) # down # 60
env.step(4) # down # 70
env.step(4) # down # 80
env.step(4) # down # 90
env.step(4) # down # 90 - BUMP
def test_reset():
"""Test created to check a single observation/env state visualization."""
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=10,
log_state_csv_freq=10,
log_state_render_freq=10)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=30 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = focal_point_env_fn(trajactory_logger,
probe_generator=probe_generator)
env.reset()
def test_caching_works():
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=10,
log_state_csv_freq=10,
log_state_render_freq=10)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=30 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = focal_point_env_fn(trajactory_logger,
probe_generator=probe_generator)
env.reset()
env.step(1) # left
env.step(2) # right (should come from cache)
def test_rotate_1():
"""
rotate in the center of the object 540 degree,
in one direction, in the other direction
"""
trajactory_logger = envs.logger.TrajectoryLogger(log_dir=sys.argv[1],
log_action_csv_freq=1,
log_state_csv_freq=1,
log_state_render_freq=1)
probe = Probe(
pos=np.array([0 / 1000, 0, 0]), # only X and Y
angle=0,
width=40 / 1000,
height=10 / 1000,
focal_depth=50 / 1000)
probe_generator = ConstProbeGenerator(probe)
env = plane_task_env_fn(trajactory_logger,
probe_generator=probe_generator,
rot_deg=45)
env.reset()
env.step(3) # 45
env.step(3) # 90
env.step(3) # 135
env.step(3) # 180
env.step(3) # 225
env.step(3) # 270
env.step(3) # 315
env.step(3) # 360
env.step(3) # 45
env.step(4) # should use cache
env.step(4)
env.step(4)
env.step(4)
env.step(4)
env.step(4)