def test_pure_commands(self):
shape = (3,)
y0 = np.random.rand(*shape)
obs_spec = StreamSpec(id_stream=None,
streamels=make_streamels_1D_float(shape[0], 0.0, 1.0))
cmd_spec = StreamSpec(id_stream=None,
streamels=make_streamels_1D_float(2, 0.0, 1.0))
nuisance = ActiveNuisance()
r0 = RandomRobot(BootSpec(obs_spec, cmd_spec), t0=0.0, y0=y0)
robot = EquivRobotCausal(r0, nuisance)
# bit off
rest1 = np.array([0.5, 0.5, 0.0])
# bit on
rest2 = np.array([0.5, 0.5, 1.0])
robot.set_commands(rest1, 'rest')
obs1 = robot.get_observations()
robot.set_commands(rest2, 'rest')
obs2 = robot.get_observations()
assert_allclose(obs2.observations, 1 - obs1.observations)
def test_pure_commands(self):
obs = StreamSpec(id_stream=None, streamels=make_streamels_rgb_float((10, 10)))
cmd = StreamSpec(id_stream=None, streamels=make_streamels_1D_float(2, 0.0, 1.0))
delta = 1.0
n = 10 # in this case we have to match everything
nuisance = PureCommandsNuisance(delta=delta, n=n)
r0 = RandomRobot(BootSpec(obs, cmd), t0=0.0)
robot = EquivRobotCausal(r0, nuisance)
agent = RandomAgent()
agent.init(robot.get_spec())
# first observations should be available
rest = robot.get_spec().get_commands().get_default_value()
obs = robot.get_observations()
self.assertEqual(obs.timestamp, 0)
# now it is not available
self.assertRaises(RobotObservations.NotReady, robot.get_observations)
for i in range(4):
robot.set_commands(rest, "rest")
obs = robot.get_observations()
assert_almost_equal(obs.timestamp, delta * (i + 1))
self.assertRaises(RobotObservations.NotReady, robot.get_observations)