def test_unique_clients(self):
# Using ints as a computation won't actually be run
client0 = 1
r0 = ReflectiveReward(0)
rf0 = rewards.RewardFactory(client0)
rf0.register_reward(1, r0)
client1 = 2
r1 = ReflectiveReward(1)
rf1 = rewards.RewardFactory(client1)
rf1.register_reward(1, r1)
self.assertEqual(client0, r0.client)
self.assertEqual(client1, r1.client)
def __init__(self, config: configs.Solo8BaseConfig, use_gui: bool):
"""Create a solo8 env.
Args:
config (configs.Solo8BaseConfig): The SoloConfig. Defaults to None.
use_gui (bool): Whether or not to show the pybullet GUI. Defaults to
False.
"""
self.config = config
self.client = bc.BulletClient(
connection_mode=p.GUI if use_gui else p.DIRECT)
self.client.setAdditionalSearchPath(pbd.getDataPath())
self.client.setGravity(*self.config.gravity)
if self.config.dt:
self.client.setPhysicsEngineParameter(fixedTimeStep=self.config.dt,
numSubSteps=1)
else:
self.client.setRealTimeSimulation(1)
self.client_configuration()
self.plane = self.client.loadURDF('plane.urdf')
self.load_bodies()
self.obs_factory = obs.ObservationFactory(self.client)
self.reward_factory = rewards.RewardFactory(self.client)
self.termination_factory = terms.TerminationFactory()
self.reset(init_call=True)
def test_register_and_compute(self, name, rewards_dict, expected_reward):
client = bullet_client.BulletClient(connection_mode=p.DIRECT)
rf = rewards.RewardFactory(client)
for weight, reward in rewards_dict.items():
rf.register_reward(weight, ReflectiveReward(reward))
self.assertEqual(rf.get_reward(), expected_reward)
client.disconnect()
def test_empty(self):
rf = rewards.RewardFactory(None)
self.assertListEqual(rf._rewards, [])
with self.assertRaises(ValueError):
rf.get_reward()