From 8e6788fca024fc92641e59887d5232b3582a16a6 Mon Sep 17 00:00:00 2001
From: Yuxiang Luo <yuxiang.lll@outlook.com>
Date: Wed, 19 Mar 2025 19:24:09 -0400
Subject: [PATCH] add test cases mentioned in issue 659

---
 .../test_all.py                               | 95 +++++++++++++++++++
 1 file changed, 95 insertions(+)
 create mode 100644 tests/test_behavior_mismatch_by_renderer/test_all.py

diff --git a/tests/test_behavior_mismatch_by_renderer/test_all.py b/tests/test_behavior_mismatch_by_renderer/test_all.py
new file mode 100644
index 0000000000..1bf74116c9
--- /dev/null
+++ b/tests/test_behavior_mismatch_by_renderer/test_all.py
@@ -0,0 +1,95 @@
+import numpy as np
+import unittest
+
+import robosuite as suite
+from pathlib import Path
+import itertools
+from robosuite.environments.manipulation.manipulation_env import ManipulationEnv
+
+cwd = Path.cwd()
+
+
+def get_envs(env_name: str, robot: str):
+    env_config = {"env_name": env_name, "robots": robot}
+
+    share_configs = {
+        **env_config,
+        "has_renderer": False,
+        "use_object_obs": True,
+        "reward_shaping": True,
+        "use_camera_obs": False,
+    }
+    # Notify user of which test we are currently on
+    print(f"Testing env: {env_name} with robot: {robot}...")
+    env: ManipulationEnv = suite.make(
+        **share_configs,
+        has_offscreen_renderer=False,
+    )
+    render_env: ManipulationEnv = suite.make(
+        **share_configs,
+        has_offscreen_renderer=True,
+    )
+
+    return env, render_env
+
+
+class TestAllCombinations(unittest.TestCase):
+
+    def test_env_robot_combinations(self):
+        envs = sorted(suite.ALL_ENVIRONMENTS)
+        robots = [
+            "Panda",
+            "Sawyer",
+            "Baxter",
+            "GR1",
+        ]
+
+        # for env_name in envs:
+        #     for robot_name in robots:
+        for env_name, robot_name in itertools.product(envs, robots):
+            with self.subTest(env=env_name, robot=robot_name):
+                # Create config dict
+                env, render_env = get_envs(env_name, robot_name)
+                env.reset()
+                render_env.reset()
+
+                for i in range(env.horizon):
+                    action = np.random.rand(*env.action_spec[0].shape)
+                    action = env.action_spec[0] * action + env.action_spec[
+                        1] * (1 - action)
+                    # input(action)
+                    obs, reward, *_, info = env.step(action)
+
+                    obs1, reward2, *_, info2 = render_env.step(action)
+                    assert reward == reward2, f"Inconsistant reward Step {i:04d} {reward:6e} {reward2:6e}"
+
+            with self.subTest(env=env_name, robot=robot_name):
+                # Create config dict
+                env, render_env = get_envs(env_name, robot_name)
+                obs = env.reset()
+                obs1 = render_env.reset()
+                join_keys = set(obs.keys()).intersection(obs1.keys())
+
+                for i in range(env.horizon):
+                    key_consistancy = True
+                    keys = []
+                    action = np.random.rand(*env.action_spec[0].shape)
+                    action = env.action_spec[0] * action + env.action_spec[
+                        1] * (1 - action)
+                    # input(action)
+                    obs, reward, *_, info = env.step(action)
+
+                    obs1, reward2, *_, info2 = render_env.step(action)
+                    for key in join_keys:
+                        key_bool = np.all(obs[key] == obs1[key])
+                        if not key_bool:
+                            # print(
+                            #     f"Inconsistant obs term {key}: {obs[key]} {obs1[key]}"
+                            # )
+                            keys.append(key)
+                        key_consistancy = key_consistancy and key_bool
+                    assert key_consistancy, f"Inconsistant obs term Step {i:4d} {keys}"
+
+
+if __name__ == '__main__':
+    unittest.main()