def test_rotation_with_randomization():
"""
Validate that the rotation of the agent is not the same between resets
Args:
Returns:
"""
bin_path = pm.get_binary_path_for_package("DefaultWorlds")
conf = copy.deepcopy(base_conf)
with HolodeckEnvironment(scenario=conf,
binary_path=bin_path,
show_viewport=False,
uuid=str(uuid.uuid4())) as env:
prev_start_rotation = conf["agents"][0]["rotation"]
num_resets = 5
for _ in range(num_resets):
cur_rotation = env.tick()["RotationSensor"]
assert is_different_3d_vector(cur_rotation, prev_start_rotation)
prev_start_rotation = cur_rotation
env.reset()
def env_with_config(config):
binary_path = pm.get_binary_path_for_package("DefaultWorlds")
return HolodeckEnvironment(
scenario=config,
binary_path=binary_path,
show_viewport=False,
uuid=str(uuid.uuid4()),
)
def mean_square_error_before_after_reset(env: HolodeckEnvironment):
"""
Args:
env: Environment to reset and test on
Returns: mean squared error between RGB sensor data capture before and
after and environment reset
"""
env.tick(10)
before_data = env.tick()["TestCamera"]
env.reset()
env.tick(10)
after_data = env.tick()["TestCamera"]
return compare_rgb_sensor_data(before_data, after_data)
def test_min_max_action_space_constraints():
binary_path = pm.get_binary_path_for_package("DefaultWorlds")
with HolodeckEnvironment(scenario=config,
binary_path=binary_path,
show_viewport=False,
uuid=str(uuid.uuid4())) as env:
for x in test_data:
agent = x["name"]
control_scheme = x["control_scheme"]
min_result = env.agents[agent].control_schemes[control_scheme][
1].get_low()
exp_min = x["min"]
check_constraints(min_result, exp_min)
max_result = env.agents[agent].control_schemes[control_scheme][
1].get_high()
exp_max = x["max"]
check_constraints(max_result, exp_max)
def make(world_name,
gl_version=GL_VERSION.OPENGL4,
window_res=None,
cam_res=None,
verbose=False):
"""Creates a holodeck environment using the supplied world name.
Args:
world_name (str): The name of the world to load as an environment. Must match the name of a world in an
installed package.
gl_version (int, optional): The OpenGL version to use (Linux only). Defaults to GL_VERSION.OPENGL4.
window_res ((int, int), optional): The resolution to load the game window at. Defaults to (512, 512).
cam_res ((int, int), optional): The resolution to load the pixel camera sensors at. Defaults to (256, 256).
verbose (bool): Whether to run in verbose mode. Defaults to False.
Returns:
HolodeckEnvironment: A holodeck environment instantiated with all the settings necessary for the specified
world, and other supplied arguments.
"""
holodeck_worlds = _get_worlds_map()
if world_name not in holodeck_worlds:
raise HolodeckException("Invalid World Name")
param_dict = copy(holodeck_worlds[world_name])
param_dict["start_world"] = True
param_dict["uuid"] = str(uuid.uuid4())
param_dict["gl_version"] = gl_version
param_dict["verbose"] = verbose
if window_res is not None:
param_dict["window_width"] = window_res[0]
param_dict["window_height"] = window_res[1]
if cam_res is not None:
param_dict["camera_width"] = cam_res[0]
param_dict["camera_height"] = cam_res[1]
return HolodeckEnvironment(**param_dict)
def make(scenario_name="",
scenario_cfg=None,
gl_version=GL_VERSION.OPENGL4,
window_res=None,
verbose=False,
show_viewport=True,
ticks_per_sec=30,
copy_state=True):
"""Creates a Holodeck environment
Args:
world_name (:obj:`str`):
The name of the world to load as an environment. Must match the name of a world in an
installed package.
scenario_cfg (:obj:`dict`): Dictionary containing scenario configuration, instead of loading a scenario
from the installed packages. Dictionary should match the format of the JSON configuration files
gl_version (:obj:`int`, optional):
The OpenGL version to use (Linux only). Defaults to GL_VERSION.OPENGL4.
window_res ((:obj:`int`, :obj:`int`), optional):
The (height, width) to load the engine window at. Overrides the (optional) resolution in the
scenario config file
verbose (:obj:`bool`, optional):
Whether to run in verbose mode. Defaults to False.
show_viewport (:obj:`bool`, optional):
If the viewport window should be shown on-screen (Linux only). Defaults to True
ticks_per_sec (:obj:`int`, optional):
The number of frame ticks per unreal seconds. Defaults to 30.
copy_state (:obj:`bool`, optional):
If the state should be copied or passed as a reference when returned. Defaults to True
Returns:
:class:`~holodeck.environments.HolodeckEnvironment`: A holodeck environment instantiated
with all the settings necessary for the specified world, and other supplied arguments.
"""
param_dict = dict()
binary_path = None
if scenario_name != "":
scenario = get_scenario(scenario_name)
binary_path = get_binary_path_for_scenario(scenario_name)
elif scenario_cfg is not None:
scenario = scenario_cfg
binary_path = get_binary_path_for_package(scenario["package_name"])
else:
raise HolodeckException(
"You must specify scenario_name or scenario_config")
# Get pre-start steps
package_config = get_package_config_for_scenario(scenario)
world = [
world for world in package_config["worlds"]
if world["name"] == scenario["world"]
][0]
param_dict["pre_start_steps"] = world["pre_start_steps"]
param_dict["scenario"] = scenario
param_dict["binary_path"] = binary_path
param_dict["start_world"] = True
param_dict["uuid"] = str(uuid.uuid4())
param_dict["gl_version"] = gl_version
param_dict["verbose"] = verbose
param_dict["show_viewport"] = show_viewport
param_dict["copy_state"] = copy_state
param_dict["ticks_per_sec"] = ticks_per_sec
if window_res is not None:
param_dict["window_size"] = window_res
return HolodeckEnvironment(**param_dict)