def test_can_step(env_ids):
"""Test Bullet environments can step"""
for env_id in env_ids:
# extract id string
env_id = env_id.replace('- ', '')
if env_id == 'KukaCamBulletEnv-v0':
# Kuka environments calls py_bullet.resetSimulation() in reset()
# unconditionally, which globally resets other simulations. So
# only one Kuka environment is tested.
continue
if env_id in _get_unsupported_env_list():
pytest.skip('Skip unsupported Bullet environments')
env = BulletEnv(env_name=env_id)
ob_space = env.observation_space
act_space = env.action_space
env.reset()
ob = ob_space.sample()
assert ob_space.contains(ob)
a = act_space.sample()
assert act_space.contains(a)
# Skip rendering because it causes TravisCI to run out of memory
step_env(env, render=False)
env.close()
def test_all_gym_envs(self, spec):
if spec._env_name.startswith('Defender'):
pytest.skip(
'Defender-* envs bundled in atari-py 0.2.x don\'t load')
if any(name == spec.id for name in _get_unsupported_env_list()):
pytest.skip('Skip unsupported Bullet environments')
env = GarageEnv(spec.make())
step_env_with_gym_quirks(env, spec)
def test_pickleable(env_ids):
"""Test Bullet environments are pickle-able"""
for env_id in env_ids:
# extract id string
env_id = env_id.replace('- ', '')
if env_id in _get_unsupported_env_list():
pytest.skip('Skip unsupported Bullet environments')
env = BulletEnv(env_name=env_id)
round_trip = pickle.loads(pickle.dumps(env))
assert round_trip
env.close()
def test_all_gym_envs_pickleable(self, spec):
if spec._env_name.startswith('Defender'):
pytest.skip(
'Defender-* envs bundled in atari-py 0.2.x don\'t load')
if any(name == spec.id for name in _get_unsupported_env_list()):
pytest.skip('Skip unsupported Bullet environments')
env = GarageEnv(env_name=spec.id)
step_env_with_gym_quirks(env,
spec,
n=1,
render=True,
serialize_env=True)
def test_pickle_creates_new_server(env_ids):
"""Test pickling a Bullet environment creates a new connection.
If all pickling create new connections, no repetition of client id
should be found.
"""
n_env = 4
for env_id in env_ids:
# extract id string
env_id = env_id.replace('- ', '')
if env_id in _get_unsupported_env_list():
pytest.skip('Skip unsupported Bullet environments')
bullet_env = BulletEnv(env_name=env_id)
envs = [pickle.loads(pickle.dumps(bullet_env)) for _ in range(n_env)]
id_set = set()
if hasattr(bullet_env.env, '_pybullet_client'):
id_set.add(bullet_env.env._pybullet_client._client)
for e in envs:
new_id = e._env._pybullet_client._client
assert new_id not in id_set
id_set.add(new_id)
elif hasattr(bullet_env.env, '_p'):
if isinstance(bullet_env.env._p, BulletClient):
id_set.add(bullet_env.env._p._client)
for e in envs:
new_id = e._env._p._client
assert new_id not in id_set
id_set.add(new_id)
else:
# Some environments have _p as the pybullet module, and they
# don't store client id, so can't check here
pass
for env in envs:
env.close()