def test_init(self):
config = configs.Solo8BaseConfig()
gui = False
with mock.patch('pybullet_utils.bullet_client.BulletClient') as mock_cls:
mock_client = mock.MagicMock()
mock_cls.return_value = mock_client
env = SimpleSoloEnv(config, gui)
with self.subTest('config'):
self.assertEqual(env.config, config)
with self.subTest('client init'):
mock_client.setAdditionalSearchPath.assert_called_once()
mock_client.setGravity.assert_called_once()
mock_client.setPhysicsEngineParameter.assert_called_once()
mock_client.loadURDF.assert_called_once()
with self.subTest('factories'):
self.assertIsInstance(env.obs_factory, obs.ObservationFactory)
self.assertIsInstance(env.reward_factory, rewards.RewardFactory)
self.assertIsInstance(env.termination_factory, terms.TerminationFactory)
with self.subTest('abc methods'):
self.assertTrue(env.load_bodies_call)
self.assertTrue(env.reset_call)
def test_realtime_simulation(self, mock_cls):
mock_client = mock.MagicMock()
mock_cls.return_value = mock_client
dt = None
config = configs.Solo8BaseConfig(dt=dt)
self.assertIsNone(config.dt)
_ = SimpleSoloEnv(config, False)
mock_client.setRealTimeSimulation.assert_called_once_with(1)
def test_fixed_timestep(self, mock_cls):
mock_client = mock.MagicMock()
mock_cls.return_value = mock_client
dt = 20
config = configs.Solo8BaseConfig(dt=dt)
self.assertIsNotNone(config.dt)
_ = SimpleSoloEnv(config, False)
mock_client.setPhysicsEngineParameter.assert_called_once_with(
fixedTimeStep=dt, numSubSteps=1)
def test_GUI(self, name, use_gui, expected_ui, mock_client):
env = SimpleSoloEnv(configs.Solo8BaseConfig(), use_gui)
mock_client.assert_called_with(connection_mode=expected_ui)
self.assertTrue(env.load_bodies_call)
self.assertTrue(env.reset_call)
def setUp(self):
with mock.patch('pybullet_utils.bullet_client.BulletClient') as self.mock_client:
self.env = SimpleSoloEnv(configs.Solo8BaseConfig(), False)
def test_client_configuration(self): env = SimpleSoloEnv(configs.Solo8BaseConfig(), False) self.assertEquals(env.client_call, 1)