def test_single_ball_tier(self):
action_simulator = phyre.action_simulator.ActionSimulator(
self._tasks, phyre.action_mappers.SingleBallActionMapper())
action_simulator.sample()
self.assertEqual(
action_simulator.simulate_action(self._task_id, [0, 0, 0]).status,
SimulationStatus.INVALID_INPUT)
self.assertEqual(
action_simulator.simulate_action(self._task_id,
[0.1, 0.2, 0.1]).status,
SimulationStatus.INVALID_INPUT)
self.assertEqual(
action_simulator.simulate_action(self._task_id,
[0.5, 0.5, 0.1]).status,
SimulationStatus.NOT_SOLVED)
def test_ramp_tier(self):
action_simulator = phyre.action_simulator.ActionSimulator(
self._tasks, phyre.action_mappers.RampActionMapper())
action_simulator.sample()
# x, y, width, left_height, right_height, angle
# Outside of the scene (go on the left).
self.assertEqual(
action_simulator.simulate_action(
self._task_id, [0.01, 0.01, 0.5, 0.5, 0.5, 0.]).status,
phyre.SimulationStatus.INVALID_INPUT)
# Occludes (rotated by 90 degrees).
self.assertEqual(
action_simulator.simulate_action(
self._task_id, [0.01, 0.01, 0.5, 0.5, 0.5, 0.25]).status,
phyre.SimulationStatus.INVALID_INPUT)
# In the middle of the scene.
self.assertEqual(
action_simulator.simulate_action(
self._task_id, [0.5, 0.5, 0.01, 0.3, 0.3, 0.0]).status,
phyre.SimulationStatus.NOT_SOLVED)
def test_simulate_single(self):
action_simulator = phyre.action_simulator.ActionSimulator(
self._tasks, phyre.action_mappers.SingleBallActionMapper())
action = [0.5, 0.5, 0.1]
simulation = action_simulator.simulate_action(self._task_id,
action,
need_images=True)
status, images = action_simulator.simulate_single(self._task_id,
action,
need_images=True)
self.assertEqual(status, simulation.status)
np.testing.assert_equal(images, simulation.images)
def _eval_single_task(task_id, action_tier_name, attempts):
tasks = phyre.loader.load_tasks_from_folder(
task_id_list=[task_id]).values()
action_simulator = phyre.action_simulator.ActionSimulator(
tasks, action_tier_name)
real_attempts = 0
for _ in range(attempts):
action = action_simulator.sample()
status = action_simulator.simulate_action(0, action).status
if status == phyre.SimulationStatus.SOLVED:
return (task_id, action, real_attempts)
if status != phyre.SimulationStatus.INVALID_INPUT:
real_attempts += 1
return (task_id, None, real_attempts)
def _eval_single_task(task, action_tier_name, start, num_attempts):
"""Evalute the task on attmepts random action from tier."""
task_id = task.taskId
action_simulator = phyre.ActionSimulator([task], action_tier_name)
actions = _get_actions(action_simulator, start, num_attempts)
statuses = collections.defaultdict(int)
stable_solutions, unstable_solutions = [], []
for action in actions:
status = action_simulator.simulate_action(0,
action,
need_images=False,
stable=True).status
statuses[status] += 1
if status == STABLY_SOLVED:
stable_solutions.append(action.tolist())
if status == UNSTABLY_SOLVED:
unstable_solutions.append(action.tolist())
return dict(task_id=task_id,
tier=action_tier_name,
stable_solutions=stable_solutions[:MAX_SOLUTIONS_TO_KEEP],
unstable_solutions=unstable_solutions[:MAX_SOLUTIONS_TO_KEEP],
statuses=statuses)
def test_single_ball_tier_discrete(self):
action_simulator = phyre.action_simulator.ActionSimulator(
self._tasks, phyre.action_mappers.SingleBallActionMapper())
discrete = action_simulator.build_discrete_action_space(10000)
self.assertEqual(len(discrete), 10000)
action_simulator.simulate_action(self._task_id, discrete[0])
