updating tests

reginald-mclean · Aug 30, 2024 · 0f8d38e · 0f8d38e
1 parent a63a024
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Showing 5 changed files with 64 additions and 65 deletions.
diff --git a/scripts/policy_testing.py b/scripts/policy_testing.py
@@ -11,7 +11,7 @@
 np.set_printoptions(suppress=True)
 
 seed = 42
-env_name = "door-lock-V3"
+env_name = "door-lock-v3"
 
 random.seed(seed)
 ml1 = metaworld.MT50(seed=seed)

diff --git a/tests/integration/test_new_api.py b/tests/integration/test_new_api.py
@@ -251,15 +251,15 @@ def check_target_poss_unique(env_instances, env_rand_vecs):
     """Verify that all the state_goals are unique for the different rand_vecs that are sampled.
 
     Note: The following envs randomize object initial position but not state_goal.
-    ['hammer-V3', 'sweep-into-V3', 'bin-picking-V3', 'basketball-V3']
+    ['hammer-v3', 'sweep-into-v3', 'bin-picking-v3', 'basketball-v3']
 
     """
     for env_name, rand_vecs in env_rand_vecs.items():
         if env_name in {
-            "hammer-V3",
-            "sweep-into-V3",
-            "bin-picking-V3",
-            "basketball-V3",
+            "hammer-v3",
+            "sweep-into-v3",
+            "bin-picking-v3",
+            "basketball-v3",
         }:
             continue
         env = env_instances[env_name]
@@ -289,13 +289,13 @@ def helper_neq(env, env_2):
             assert not (rand_vec_1 == rand_vec_2).all()
 
     # testing MT1
-    mt1_1 = metaworld.MT1("sweep-into-V3", seed=10)
-    mt1_2 = metaworld.MT1("sweep-into-V3", seed=10)
+    mt1_1 = metaworld.MT1("sweep-into-v3", seed=10)
+    mt1_2 = metaworld.MT1("sweep-into-v3", seed=10)
     helper(mt1_1, mt1_2)
 
     # testing ML1
-    ml1_1 = metaworld.ML1("sweep-into-V3", seed=10)
-    ml1_2 = metaworld.ML1("sweep-into-V3", seed=10)
+    ml1_1 = metaworld.ML1("sweep-into-v3", seed=10)
+    ml1_2 = metaworld.ML1("sweep-into-v3", seed=10)
     helper(ml1_1, ml1_2)
 
     # testing MT10

diff --git a/tests/integration/test_single_goal_envs.py b/tests/integration/test_single_goal_envs.py
@@ -63,7 +63,7 @@ def test_observable_goal_envs():
 
 def test_seeding_observable():
     door_open_goal_observable_cls = ALL_V3_ENVIRONMENTS_GOAL_OBSERVABLE[
-        "door-open-V3-goal-observable"
+        "door-open-v3-goal-observable"
     ]
 
     env1 = door_open_goal_observable_cls(seed=5)
@@ -106,7 +106,7 @@ def test_seeding_observable():
 
 def test_seeding_hidden():
     door_open_goal_hidden_cls = ALL_V3_ENVIRONMENTS_GOAL_HIDDEN[
-        "door-open-V3-goal-hidden"
+        "door-open-v3-goal-hidden"
     ]
 
     env1 = door_open_goal_hidden_cls(seed=5)

diff --git a/tests/metaworld/envs/mujoco/sawyer_xyz/test_obs_space_hand.py b/tests/metaworld/envs/mujoco/sawyer_xyz/test_obs_space_hand.py
@@ -43,7 +43,7 @@ def sample_spherical(num_points, radius=1.0):
 
 @pytest.mark.parametrize("target", sample_spherical(100, 10.0))
 def test_reaching_limit(target):
-    env = ALL_V3_ENVIRONMENTS["reach-V3"]()
+    env = ALL_V3_ENVIRONMENTS["reach-v3"]()
     env._partially_observable = False
     env._freeze_rand_vec = False
     env._set_task_called = True

diff --git a/tests/metaworld/envs/mujoco/sawyer_xyz/test_scripted_policies.py b/tests/metaworld/envs/mujoco/sawyer_xyz/test_scripted_policies.py
@@ -56,56 +56,56 @@
 
 policies = dict(
     {
-        "assembly-V3": SawyerAssemblyV3Policy,
-        "basketball-V3": SawyerBasketballV3Policy,
-        "bin-picking-V3": SawyerBinPickingV3Policy,
-        "box-close-V3": SawyerBoxCloseV3Policy,
-        "button-press-topdown-V3": SawyerButtonPressTopdownV3Policy,
-        "button-press-topdown-wall-V3": SawyerButtonPressTopdownWallV3Policy,
-        "button-press-V3": SawyerButtonPressV3Policy,
-        "button-press-wall-V3": SawyerButtonPressWallV3Policy,
-        "coffee-button-V3": SawyerCoffeeButtonV3Policy,
-        "coffee-pull-V3": SawyerCoffeePullV3Policy,
-        "coffee-push-V3": SawyerCoffeePushV3Policy,
-        "dial-turn-V3": SawyerDialTurnV3Policy,
-        "disassemble-V3": SawyerDisassembleV3Policy,
-        "door-close-V3": SawyerDoorCloseV3Policy,
-        "door-lock-V3": SawyerDoorLockV3Policy,
-        "door-open-V3": SawyerDoorOpenV3Policy,
-        "door-unlock-V3": SawyerDoorUnlockV3Policy,
-        "drawer-close-V3": SawyerDrawerCloseV3Policy,
-        "drawer-open-V3": SawyerDrawerOpenV3Policy,
-        "faucet-close-V3": SawyerFaucetCloseV3Policy,
-        "faucet-open-V3": SawyerFaucetOpenV3Policy,
-        "hammer-V3": SawyerHammerV3Policy,
-        "hand-insert-V3": SawyerHandInsertV3Policy,
-        "handle-press-side-V3": SawyerHandlePressSideV3Policy,
-        "handle-press-V3": SawyerHandlePressV3Policy,
-        "handle-pull-V3": SawyerHandlePullV3Policy,
-        "handle-pull-side-V3": SawyerHandlePullSideV3Policy,
-        "peg-insert-side-V3": SawyerPegInsertionSideV3Policy,
-        "lever-pull-V3": SawyerLeverPullV3Policy,
-        "peg-unplug-side-V3": SawyerPegUnplugSideV3Policy,
-        "pick-out-of-hole-V3": SawyerPickOutOfHoleV3Policy,
-        "pick-place-V3": SawyerPickPlaceV3Policy,
-        "pick-place-wall-V3": SawyerPickPlaceWallV3Policy,
-        "plate-slide-back-side-V3": SawyerPlateSlideBackSideV3Policy,
-        "plate-slide-back-V3": SawyerPlateSlideBackV3Policy,
-        "plate-slide-side-V3": SawyerPlateSlideSideV3Policy,
-        "plate-slide-V3": SawyerPlateSlideV3Policy,
-        "reach-V3": SawyerReachV3Policy,
-        "reach-wall-V3": SawyerReachWallV3Policy,
-        "push-back-V3": SawyerPushBackV3Policy,
-        "push-V3": SawyerPushV3Policy,
-        "push-wall-V3": SawyerPushWallV3Policy,
-        "shelf-place-V3": SawyerShelfPlaceV3Policy,
-        "soccer-V3": SawyerSoccerV3Policy,
-        "stick-pull-V3": SawyerStickPullV3Policy,
-        "stick-push-V3": SawyerStickPushV3Policy,
-        "sweep-into-V3": SawyerSweepIntoV3Policy,
-        "sweep-V3": SawyerSweepV3Policy,
-        "window-close-V3": SawyerWindowCloseV3Policy,
-        "window-open-V3": SawyerWindowOpenV3Policy,
+        "assembly-v3": SawyerAssemblyV3Policy,
+        "basketball-v3": SawyerBasketballV3Policy,
+        "bin-picking-v3": SawyerBinPickingV3Policy,
+        "box-close-v3": SawyerBoxCloseV3Policy,
+        "button-press-topdown-v3": SawyerButtonPressTopdownV3Policy,
+        "button-press-topdown-wall-v3": SawyerButtonPressTopdownWallV3Policy,
+        "button-press-v3": SawyerButtonPressV3Policy,
+        "button-press-wall-v3": SawyerButtonPressWallV3Policy,
+        "coffee-button-v3": SawyerCoffeeButtonV3Policy,
+        "coffee-pull-v3": SawyerCoffeePullV3Policy,
+        "coffee-push-v3": SawyerCoffeePushV3Policy,
+        "dial-turn-v3": SawyerDialTurnV3Policy,
+        "disassemble-v3": SawyerDisassembleV3Policy,
+        "door-close-v3": SawyerDoorCloseV3Policy,
+        "door-lock-v3": SawyerDoorLockV3Policy,
+        "door-open-v3": SawyerDoorOpenV3Policy,
+        "door-unlock-v3": SawyerDoorUnlockV3Policy,
+        "drawer-close-v3": SawyerDrawerCloseV3Policy,
+        "drawer-open-v3": SawyerDrawerOpenV3Policy,
+        "faucet-close-v3": SawyerFaucetCloseV3Policy,
+        "faucet-open-v3": SawyerFaucetOpenV3Policy,
+        "hammer-v3": SawyerHammerV3Policy,
+        "hand-insert-v3": SawyerHandInsertV3Policy,
+        "handle-press-side-v3": SawyerHandlePressSideV3Policy,
+        "handle-press-v3": SawyerHandlePressV3Policy,
+        "handle-pull-v3": SawyerHandlePullV3Policy,
+        "handle-pull-side-v3": SawyerHandlePullSideV3Policy,
+        "peg-insert-side-v3": SawyerPegInsertionSideV3Policy,
+        "lever-pull-v3": SawyerLeverPullV3Policy,
+        "peg-unplug-side-v3": SawyerPegUnplugSideV3Policy,
+        "pick-out-of-hole-v3": SawyerPickOutOfHoleV3Policy,
+        "pick-place-v3": SawyerPickPlaceV3Policy,
+        "pick-place-wall-v3": SawyerPickPlaceWallV3Policy,
+        "plate-slide-back-side-v3": SawyerPlateSlideBackSideV3Policy,
+        "plate-slide-back-v3": SawyerPlateSlideBackV3Policy,
+        "plate-slide-side-v3": SawyerPlateSlideSideV3Policy,
+        "plate-slide-v3": SawyerPlateSlideV3Policy,
+        "reach-v3": SawyerReachV3Policy,
+        "reach-wall-v3": SawyerReachWallV3Policy,
+        "push-back-v3": SawyerPushBackV3Policy,
+        "push-v3": SawyerPushV3Policy,
+        "push-wall-v3": SawyerPushWallV3Policy,
+        "shelf-place-v3": SawyerShelfPlaceV3Policy,
+        "soccer-v3": SawyerSoccerV3Policy,
+        "stick-pull-v3": SawyerStickPullV3Policy,
+        "stick-push-v3": SawyerStickPushV3Policy,
+        "sweep-into-v3": SawyerSweepIntoV3Policy,
+        "sweep-v3": SawyerSweepV3Policy,
+        "window-close-v3": SawyerWindowCloseV3Policy,
+        "window-open-v3": SawyerWindowOpenV3Policy,
     }
 )
 
@@ -130,5 +130,4 @@ def test_policy(env_name):
             if int(info["success"]) == 1:
                 completed += 1
                 break
-    print(float(completed) / 50)
-    assert (float(completed) / 50) > 0.80
+    assert (float(completed) / 50) >= 0.80