def test_agent_collect_info(): vec_env, custom_draws = make_block_push_env(two_d=True) red_plan = red_skeleton() green_plan = green_skeleton() blue_plan = blue_skeleton() #plans = [blue_plan, green_plan, red_plan] plans = [red_plan] agent = Agent("test_collect_info") agent.collect_transition_data(vec_env, plans)
def test_one_push_planner(): vec_env, custom_draws = make_block_push_env(two_d=True) start_state_str = vec_env.get_pillar_state()[0] start_state = State.create_from_serialized_string(start_state_str) goal_state = State.create_from_serialized_string(start_state_str) goal_pose = np.array(start_state.get_values_as_vec([block_pos_fqn])) goal_pose[0] -= 0.05 goal_state.set_values_from_vec([block_pos_fqn], goal_pose.tolist()) planner = Planner(vec_env.cfg) one_push_plan = planner.plan(start_state.get_serialized_string(), goal_state.get_serialized_string()) plans = [one_push_plan] agent = Agent("test_planner") agent.collect_transition_data(vec_env, plans)