def test_action_normalization(self):
joint_cnt = 12
config = solo_env.Solo8VanillaConfig()
config.max_motor_rotation = 10
env = solo_env.Solo8VanillaEnv(config=config, normalize_actions=True)
env.obs_factory.register_observation(CompliantObs(None))
env.termination_factory.register_termination(DummyTermination(0, True))
env.reward_factory.register_reward(1, SimpleReward())
mock_client = mock.MagicMock()
env.client = mock_client
with self.subTest('min bounds'):
env.step([-1.] * joint_cnt)
_, kwargs = mock_client.setJointMotorControlArray.call_args_list[-1]
np.testing.assert_array_equal(
kwargs['targetPositions'],
np.array([-config.max_motor_rotation] * joint_cnt))
with self.subTest('max bounds'):
env.step([1.] * joint_cnt)
_, kwargs = mock_client.setJointMotorControlArray.call_args_list[-1]
np.testing.assert_array_equal(
kwargs['targetPositions'],
np.array([config.max_motor_rotation] * joint_cnt))
with self.subTest('at 0'):
env.step([0.] * joint_cnt)
_, kwargs = mock_client.setJointMotorControlArray.call_args_list[-1]
np.testing.assert_array_equal(
kwargs['targetPositions'],
np.array([0] * joint_cnt))
def test_disjoint_environments(self):
env1 = solo_env.Solo8VanillaEnv(config=solo_env.Solo8VanillaConfig())
env1.obs_factory.register_observation(solo_obs.TorsoIMU(env1.robot))
env1.obs_factory.register_observation(solo_obs.MotorEncoder(env1.robot))
env1.reward_factory.register_reward(1, SimpleReward())
env1.termination_factory.register_termination(DummyTermination(0, True))
home_position = env1.reset()
for i in range(1000):
env1.step(env1.action_space.sample())
env2 = solo_env.Solo8VanillaEnv(config=solo_env.Solo8VanillaConfig())
env2.obs_factory.register_observation(solo_obs.TorsoIMU(env2.robot))
env2.obs_factory.register_observation(solo_obs.MotorEncoder(env2.robot))
env2.reward_factory.register_reward(1, SimpleReward())
env2.termination_factory.register_termination(DummyTermination(0, True))
np.testing.assert_array_almost_equal(home_position, env2.reset())
def test_action_space(self):
limit = 2 * np.pi
joint_cnt = 12 # 8 dof + 4 "ankle" joints
space = spaces.Box(-limit, limit, shape=(joint_cnt, ))
config = solo_env.Solo8VanillaConfig(motor_torque_limit=limit)
env = solo_env.Solo8VanillaEnv(config=config)
self.assertEqual(env.action_space, space)
def test_realtime(self, mock_time):
env = solo_env.Solo8VanillaEnv(config=solo_env.Solo8VanillaConfig(),
realtime=True)
env.reward_factory.register_reward(1, SimpleReward())
env.obs_factory.register_observation(CompliantObs(None))
env.termination_factory.register_termination(DummyTermination(0, True))
env.step(env.action_space.sample())
self.assertTrue(mock_time.called)
def test_GUI_default(self, fake_reset, mock_client):
solo_env.Solo8VanillaEnv(config=solo_env.Solo8VanillaConfig())
mock_client.assert_called_with(connection_mode=p.DIRECT)
def setUp(self):
self.env = solo_env.Solo8VanillaEnv(
config=solo_env.Solo8VanillaConfig())
self.env.reward_factory.register_reward(1, SimpleReward())
def test_step_no_rewards(self):
env = solo_env.Solo8VanillaEnv(config=solo_env.Solo8VanillaConfig())
with self.assertRaises(ValueError):
env.step(np.zeros(self.env.action_space.shape[0]))
def test_normalized_action_space(self): config = solo_env.Solo8VanillaConfig() env = solo_env.Solo8VanillaEnv(config=config, normalize_actions=True) self.assertEqual(env.action_space, spaces.Box(-1, 1, shape=(12,)))