def step_bullet_kuka_env(n_steps=1000):
"""Load, step, and visualize a Bullet Kuka environment.
Args:
n_steps (int): number of steps to run.
"""
# Construct the environment
env = BulletEnv(
gym.make('KukaBulletEnv-v0',
renders=True,
isDiscrete=True,
maxSteps=10000000))
# Reset the environment and launch the viewer
env.reset()
env.render()
# Step randomly until interrupted
steps = 0
while steps < n_steps:
_, _, done, _ = env.step(env.action_space.sample())
if done:
break
steps += 1
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_time_limit_env():
"""Test BulletEnv emits done signal when time limit expiration occurs.
After setting max_episode_steps=50, info['BulletEnv.TimeLimitTerminated']
is expected to be True after 50 steps.
"""
env = BulletEnv(gym.make('MinitaurBulletEnv-v0'))
env.env._max_episode_steps = 50
env.reset()
for _ in range(50):
_, _, done, info = env.step(env.spec.action_space.sample())
assert not done and info['TimeLimit.truncated']
assert info['BulletEnv.TimeLimitTerminated']
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 in ('KukaCamBulletEnv-v0', 'KukaDiverseObjectGrasping-v0'):
# Kuka environments calls pybullet.resetSimulation() in reset()
# unconditionally, which globally resets other simulations. So
# only one Kuka environment is tested.
continue
env = BulletEnv(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, visualize=False)
env.close()
