def setUp(self):
env = mock.MagicMock(spec=environment.Base)
env.action_spec.return_value = specs.BoundedArraySpec(
(1, ), np.float64, -1, 1)
self.runtime = runtime.Runtime(env, mock.MagicMock())
self.runtime._step = mock.MagicMock()
self.runtime._step.return_value = False
def test_step_without_policy(self):
with mock.patch(runtime.__name__ +
'._get_default_action') as mock_get_default_action:
this_runtime = runtime.Runtime(environment=self.env, policy=None)
this_runtime._step()
self.env.step.assert_called_once_with(
mock_get_default_action.return_value)
def setUp(self):
super(RuntimeSingleStepTest, self).setUp()
env = mock.MagicMock(spec=dm_env.Environment)
env.action_spec.return_value = specs.BoundedArray((1, ), np.float64,
-1, 1)
self.runtime = runtime.Runtime(env, mock.MagicMock())
self.runtime._step = mock.MagicMock()
self.runtime._step.return_value = False
def setUp(self):
env = mock.MagicMock()
env.action_spec.return_value = specs.BoundedArraySpec(
(1, ), np.float64, -1, 1)
self.runtime = runtime.Runtime(env, mock.MagicMock())
self.runtime._start = mock.MagicMock()
self.runtime.get_time = mock.MagicMock()
self.runtime.get_time.return_value = 0
self.runtime._step_simulation = mock.MagicMock(return_value=False)
def setUp(self):
self.observation = mock.MagicMock()
self.env = mock.MagicMock(spec=environment.Base)
self.env.physics = mock.MagicMock()
self.env.step = mock.MagicMock()
self.env.action_spec.return_value = specs.BoundedArraySpec(
(1, ), np.float64, -1, 1)
self.policy = mock.MagicMock()
self.actions = mock.MagicMock()
self.runtime = runtime.Runtime(self.env, self.policy)
def setUp(self):
env = mock.MagicMock(spec=environment.Base)
env.action_spec.return_value = specs.BoundedArraySpec(
(1, ), np.float64, -1, 1)
self.runtime = runtime.Runtime(env, mock.MagicMock())
self.runtime._step_paused = mock.MagicMock()
self.runtime._step = mock.MagicMock(return_value=True)
self.runtime.get_time = mock.MagicMock(return_value=0)
self.time_step = 1e-2
def setUp(self):
super(EnvironmentRuntimeTest, self).setUp()
self.observation = mock.MagicMock()
self.env = mock.MagicMock(spec=dm_env.Environment)
self.env.physics = mock.MagicMock()
self.env.step = mock.MagicMock()
self.env.action_spec.return_value = specs.BoundedArray(
(1, ), np.float64, -1, 1)
self.policy = mock.MagicMock()
self.actions = mock.MagicMock()
self.runtime = runtime.Runtime(self.env, self.policy)
def setUp(self):
super(RuntimeTest, self).setUp()
env = mock.MagicMock(spec=dm_env.Environment)
env.action_spec.return_value = specs.BoundedArray((1, ), np.float64,
-1, 1)
self.runtime = runtime.Runtime(env, mock.MagicMock())
self.runtime._step_paused = mock.MagicMock()
self.runtime._step = mock.MagicMock(return_value=True)
self.runtime.get_time = mock.MagicMock(return_value=0)
self.time_step = 1e-2
def _load_environment(self, zoom_to_scene):
"""Loads a new environment."""
if self._runtime:
del self._runtime
self._runtime = None
self._environment = None
environment_instance = None
if self._environment_loader:
environment_instance = self._environment_loader()
if environment_instance:
self._environment = environment_instance
self._runtime = runtime.Runtime(
environment=self._environment, policy=self._policy)
self._runtime.on_physics_changed += lambda: self._on_reload(False)
self._status.set_runtime(self._runtime)
self._on_reload(zoom_to_scene=zoom_to_scene)
