def test_magic_ponies_jars(self):
def mock_center_of_mass(**kwargs):
return (0, kwargs['diameter'])
with unittest.mock.patch.object(
phyre.creator.shapes.Jar,
'center_of_mass',
side_effect=mock_center_of_mass) as mock_method:
steps = 1
_, _, _, objects = simulator.magic_ponies(
self._task_jar_test,
self._ball_user_input,
steps=steps,
stride=1,
need_images=False,
need_featurized_objects=True)
diameter = phyre.creator.shapes.Jar._diameter(
**phyre.creator.shapes.Jar.default_sizes(0.3))
ideal_vector = np.array([[
50 / 256., 30 / 256. + diameter / 256., 0.0, diameter / 256.,
0, 0, 1, 0, 0, 0, 0, 1, 0, 0
], [70 / 256., 200 / 256., 0.0, 0.2, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0],
[
100 / 256., 100 / 256., 0,
3.9062500e-02, 1, 0, 0, 0, 1, 0, 0, 0,
0, 0
]])
np.testing.assert_allclose(ideal_vector, objects[0], atol=1e-3)
def test_complicated_object_vec_to_scene(self):
steps = 50
_, _, images, objects = simulator.magic_ponies(
self._task_complicated_object_test,
self._ball_user_input_big,
steps=steps,
stride=1,
need_images=True,
need_featurized_objects=True)
objects = phyre.simulation.Simulation(
featurized_objects=objects).featurized_objects.features
for i in range(len(images)):
image = images[i]
original_object_vec = objects[i]
object_vec = original_object_vec
for j in range(5):
# Test no loss of information in conversion
self.assertTrue(
np.allclose(original_object_vec,
simulator.scene_to_featurized_objects(
phyre.objects_util.
featurized_objects_vector_to_scene(
object_vec)).features,
atol=1e-4))
object_vec = simulator.scene_to_featurized_objects(
phyre.objects_util.featurized_objects_vector_to_scene(
object_vec)).features[0]
self.assertTrue((image == simulator.scene_to_raster(
phyre.objects_util.featurized_objects_vector_to_scene(
object_vec))).all())
def test_is_solution_valid(self):
steps = 200
assert steps >= simulator.STEPS_FOR_SOLUTION
# Empty solution should be valid.
self.assertTrue(
simulator.magic_ponies(self._task,
self._box_compressed_user_input,
steps=steps)[0])
def test_add_input_and_ponies(self):
steps = 10
task_simulation = simulator.simulate_task_with_input(
self._task, self._ball_user_input, steps=steps, stride=1)
is_solved, had_occlusions, images, scenes = simulator.magic_ponies(
self._task,
self._ball_user_input,
steps=steps,
stride=1,
need_images=True,
need_featurized_objects=True)
self.assertEqual(is_solved, task_simulation.isSolution)
self.assertEqual(len(images), steps)
self.assertEqual(len(task_simulation.sceneList), steps)
self.assertEqual(
had_occlusions, task_simulation.sceneList[0].user_input_status ==
scene_if.UserInputStatus.HAD_OCCLUSIONS)
# Check images match target scenes
self.assertFalse(
np.array_equal(
images[0],
simulator.scene_to_raster(task_simulation.sceneList[-1])))
self.assertTrue((images[-1] == simulator.scene_to_raster(
task_simulation.sceneList[-1])).all())
# Test just images works
_, _, only_images, _ = simulator.magic_ponies(
self._task,
self._ball_user_input,
steps=steps,
stride=1,
need_images=True,
need_featurized_objects=False)
self.assertTrue(np.array_equal(images, only_images))
# Test just scenes works
_, _, _, only_scenes = simulator.magic_ponies(
self._task,
self._ball_user_input,
steps=steps,
stride=1,
need_images=False,
need_featurized_objects=True)
self.assertTrue(np.array_equal(scenes, only_scenes))
def test_magic_ponies_objects(self):
steps = 1
_, _, _, objects = simulator.magic_ponies(self._task_object_test,
self._ball_user_input,
steps=steps,
stride=1,
need_images=False,
need_featurized_objects=True)
ideal_vector = np.array([[
50 / 256., 30 / 256., 350. / 360., 0.3, 0, 1, 0, 0, 0, 0, 0, 1, 0,
0
], [70 / 256., 200 / 256., 0.0, 0.2, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0],
[
100 / 256., 100 / 256., 0, 3.9062500e-02,
1, 0, 0, 0, 1, 0, 0, 0, 0, 0
]])
np.testing.assert_allclose(ideal_vector, objects[0], atol=1e-3)
def test_add_input_and_ponies(self):
raise unittest.SkipTest
steps = 10
task_simulation = simulator.simulate_task_with_input(
self._task, self._box_user_input, steps=steps, stride=1)
is_solved, had_occlusions, images = simulator.magic_ponies(
self._task, self._box_compressed_user_input, steps=steps, stride=1)
self.assertEqual(is_solved, task_simulation.isSolution)
self.assertEqual(len(images), steps)
self.assertEqual(len(task_simulation.sceneList), steps)
self.assertEqual(
had_occlusions, task_simulation.sceneList[0].user_input_status ==
scene_if.UserInputStatus.HAD_OCCLUSIONS)
self.assertFalse((images[0] == simulator.scene_to_raster(
task_simulation.sceneList[-1])).all())
self.assertTrue((images[-1] == simulator.scene_to_raster(
task_simulation.sceneList[-1])).all())
def test_object_vec_to_scene_simple(self):
_, _, images, featurized_objects = simulator.magic_ponies(
self._task_complicated_object_test,
self._ball_user_input_big,
steps=1,
stride=1,
need_images=True,
need_featurized_objects=True)
objects = phyre.simulation.Simulation(
featurized_objects=featurized_objects).featurized_objects.features
image = images[0]
object_vec = objects[0]
self.assertTrue(
(image == phyre.objects_util.featurized_objects_vector_to_raster(
object_vec)).all())
self.assertTrue(
np.array_equal(
object_vec,
simulator.scene_to_featurized_objects(
phyre.objects_util.featurized_objects_vector_to_scene(
object_vec)).features[0]))
def test_object_vec_to_scene(self):
steps = 50
_, _, images, objects = simulator.magic_ponies(
self._task_object_test,
self._ball_user_input_small,
steps=steps,
stride=1,
need_images=True,
need_featurized_objects=True)
objects = phyre.simulation.Simulation(
featurized_objects=objects).featurized_objects.features
for i in range(len(images)):
image = images[i]
object_vec = objects[i]
self.assertTrue(
np.allclose(
object_vec,
simulator.scene_to_featurized_objects(
phyre.objects_util.featurized_objects_vector_to_scene(
object_vec)).features,
atol=1e-4))
self.assertTrue((image == simulator.scene_to_raster(
phyre.objects_util.featurized_objects_vector_to_scene(
object_vec))).all())