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_pickleable(env_ids):
"""Test Bullet environments are pickle-able"""
for env_id in env_ids:
# extract id string
env_id = env_id.replace('- ', '')
env = BulletEnv(env_name=env_id)
round_trip = pickle.loads(pickle.dumps(env))
assert round_trip
env.close()
def test_pickleable(env_ids):
"""Test Bullet environments are pickle-able"""
for env_id in env_ids:
# extract id string
env_id = env_id.replace('- ', '')
if env_id in _get_unsupported_env_list():
pytest.skip('Skip unsupported Bullet environments')
env = BulletEnv(env_name=env_id)
round_trip = pickle.loads(pickle.dumps(env))
assert round_trip
env.close()
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()
