def __init__(self, config: configs.Solo8BaseConfig, use_gui: bool):
"""Create a solo8 env.
Args:
config (configs.Solo8BaseConfig): The SoloConfig. Defaults to None.
use_gui (bool): Whether or not to show the pybullet GUI. Defaults to
False.
"""
self.config = config
self.client = bc.BulletClient(
connection_mode=p.GUI if use_gui else p.DIRECT)
self.client.setAdditionalSearchPath(pbd.getDataPath())
self.client.setGravity(*self.config.gravity)
if self.config.dt:
self.client.setPhysicsEngineParameter(fixedTimeStep=self.config.dt,
numSubSteps=1)
else:
self.client.setRealTimeSimulation(1)
self.client_configuration()
self.plane = self.client.loadURDF('plane.urdf')
self.load_bodies()
self.obs_factory = obs.ObservationFactory(self.client)
self.reward_factory = rewards.RewardFactory(self.client)
self.termination_factory = terms.TerminationFactory()
self.reset(init_call=True)
def test_is_terminated(self):
dummy_termination_true_1 = DummyTermination(0, True)
dummy_termination_false_1 = DummyTermination(0, False)
dummy_termination_false_2 = DummyTermination(0, False)
with self.subTest('True and False Termination'):
termination_factory = termination.TerminationFactory()
termination_factory.register_termination(
dummy_termination_true_1, dummy_termination_false_1)
self.assertTrue(termination_factory.is_terminated())
with self.subTest('False and False Termination'):
termination_factory = termination.TerminationFactory()
termination_factory.register_termination(
dummy_termination_false_1, dummy_termination_false_2)
self.assertFalse(termination_factory.is_terminated())
def test_reset(self):
dummy_termination = DummyTermination(0, True)
termination_factory = termination.TerminationFactory()
termination_factory.register_termination(dummy_termination)
self.assertEqual(1, dummy_termination.reset_counter)
termination_factory.reset()
self.assertEqual(2, dummy_termination.reset_counter)
def test_register_termination(self):
termination_factory = termination.TerminationFactory()
dummy_termination_1 = DummyTermination(0, True)
dummy_termination_2 = DummyTermination(0, False)
termination_factory.register_termination(dummy_termination_1,
dummy_termination_2)
self.assertEqual(len(termination_factory._terminations), 2)
def test_initialization(self):
termination_factory = termination.TerminationFactory()
self.assertListEqual(termination_factory._terminations, [])
self.assertTrue(termination_factory._use_or)