| """Integration checks against the tiny, explicitly selected source sample.""" |
| from pathlib import Path |
| import pytest |
| from task00_recovery.source import SourceEpisode |
|
|
| INPUTS = Path(__file__).resolve().parents[1]/'inputs' |
|
|
|
|
| @pytest.mark.parametrize('episode,frame,held', [('00003990', 4000, True), ('00005200', 4299, False)]) |
| def test_actual_grasp_state_takes_precedence_over_annotation(episode, frame, held): |
| source = INPUTS/f'trajectories/task-0000/episode_{episode}.hdf5' |
| meta = INPUTS/f'meta/task-0000/episodes/episode_{episode}.json' |
| if not source.exists(): |
| pytest.skip('Selected HF test source has not been downloaded') |
| s = SourceEpisode(source, meta) |
| snapshot, audit = s.materialize(frame) |
| robot = snapshot[0]['registry']['object_registry']['robot_r1'] |
| assert bool(robot['ag_obj_constraint_params']['right']) == held |
| assert audit['prefix_rows'] == frame+1 |
| assert audit['unresolved_tails'] == {} |
| assert s.n_states == s.n_actions+1 |
| with pytest.raises(IndexError): |
| s.materialize(s.n_states) |
|
|
