def test_single_env_multi_goals_discrete(env_cls):
env_cls_dict = {'wrapped': env_cls}
env_args_kwargs = {'wrapped': dict(args=[], kwargs={'task_id': 1})}
multi_task_env = MultiClassMultiTaskEnv(task_env_cls_dict=env_cls_dict,
task_args_kwargs=env_args_kwargs,
sample_goals=True,
obs_type='with_goal_id')
goals = multi_task_env.active_env.sample_goals_(2)
assert len(goals) == 2
goals_dict = {'wrapped': goals}
multi_task_env.discretize_goal_space(goals_dict)
assert multi_task_env._fully_discretized
tasks_with_goals = multi_task_env.sample_tasks(2)
for t in tasks_with_goals:
assert 'task' in t
assert 'goal' in t
multi_task_env.set_task(tasks_with_goals[0])
assert multi_task_env._active_task == tasks_with_goals[0]['task']
reset_obs = multi_task_env.reset()
step_obs, _, _, _ = multi_task_env.step(
multi_task_env.action_space.sample())
assert np.all(multi_task_env.observation_space.shape == reset_obs.shape)
assert np.all(multi_task_env.observation_space.shape == step_obs.shape)
assert reset_obs[multi_task_env._max_obs_dim:][
env_args_kwargs['wrapped']['kwargs']['task_id'] +
tasks_with_goals[0]['goal']] == 1
assert step_obs[multi_task_env._max_obs_dim:][
env_args_kwargs['wrapped']['kwargs']['task_id'] +
tasks_with_goals[0]['goal']] == 1
assert np.sum(reset_obs[multi_task_env._max_plain_dim:]) == 1
def test_multienv_multigoals_fully_discretized(env_list):
env_cls_dict = {
'env-{}'.format(i): env_cls
for i, env_cls in enumerate(env_list)
}
env_args_kwargs = {
'env-{}'.format(i): dict(args=[],
kwargs={
'obs_type': 'plain',
'task_id': i
})
for i, _ in enumerate(env_list)
}
multi_task_env = MultiClassMultiTaskEnv(
task_env_cls_dict=env_cls_dict,
task_args_kwargs=env_args_kwargs,
sample_goals=True,
obs_type='with_goal_and_id',
sample_all=False,
)
goals_dict = dict()
for i in range(len(multi_task_env._task_envs)):
goals = multi_task_env.active_env.sample_goals_(i + 1)
goals_dict['env-{}'.format(i)] = goals
multi_task_env.discretize_goal_space(goals_dict)
assert multi_task_env._fully_discretized
tasks_with_goals = multi_task_env.sample_tasks(2)
for t in tasks_with_goals:
assert 'task' in t
assert 'goal' in t
multi_task_env.set_task(tasks_with_goals[0])
assert multi_task_env._active_task == tasks_with_goals[0]['task']
# check task id
reset_obs = multi_task_env.reset()
step_obs, _, _, _ = multi_task_env.step(
multi_task_env.action_space.sample())
assert np.all(multi_task_env.observation_space.shape == reset_obs.shape)
assert np.all(multi_task_env.observation_space.shape == step_obs.shape)
task_name = multi_task_env._task_names[tasks_with_goals[0]['task']]
goal = tasks_with_goals[0]['goal']
plain_dim = multi_task_env._max_obs_dim
goal_dim = 3
task_start_index = goal_dim + multi_task_env.active_task
# TODO these dims are ugly... rewrite assertion later
assert reset_obs[plain_dim:][task_start_index] == 1, reset_obs
assert step_obs[plain_dim:][task_start_index] == 1, step_obs
assert np.sum(
reset_obs[plain_dim + task_start_index:plain_dim + task_start_index +
multi_task_env._n_discrete_goals]) == 1
assert np.sum(
reset_obs[plain_dim + task_start_index:plain_dim + task_start_index +
multi_task_env._n_discrete_goals]) == 1
def test_reach_push_pick_place(env_cls):
task_types = ['pick_place', 'reach', 'push']
env_dict = {t: env_cls for t in task_types}
env_args_kwargs = {
t: dict(args=[],
kwargs={
'task_type': t,
'obs_type': 'plain',
'task_id': 1
})
for t in task_types
}
multi_task_env = MultiClassMultiTaskEnv(
task_env_cls_dict=env_dict,
task_args_kwargs=env_args_kwargs,
obs_type='with_goal_id',
sample_goals=True, # Each environment should still sample only
# one goal since each of them is discrete goal
# space and contains only one goal.
sample_all=True,
)
goals_dict = {
'pick_place': [np.array([0.1, 0.8, 0.2])],
'reach': [np.array([-0.1, 0.8, 0.2])],
'push': [np.array([0.1, 0.8, 0.02])],
}
multi_task_env.discretize_goal_space(goals_dict)
assert multi_task_env._fully_discretized
n_tasks = len(env_dict.keys())
# do this test twice to make sure multiple sampling is working
for _ in range(2):
tasks = multi_task_env.sample_tasks(n_tasks)
assert len(tasks) == n_tasks
for t in tasks:
assert 'task' in t.keys()
assert 'goal' in t.keys()
multi_task_env.set_task(t)
_ = multi_task_env.reset()
task_name = multi_task_env._task_names[t['task']]
goal = multi_task_env.active_env.goal
assert np.array_equal(goal, goals_dict[task_name][0])
assert multi_task_env.active_env.task_type == task_name