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_happy(self):
of = obs.ObservationFactory(self.client)
with self.subTest('single obs'):
test_obs = CompliantObs(None)
of.register_observation(test_obs)
self.assertEqual(len(of._observations), 1)
self.assertEqual(of._observations[0], test_obs)
self.assertEqual(of.get_observation_space(),
CompliantObs.observation_space)
with self.subTest('multiple_obs'):
test_obs2 = CompliantObs(2)
of.register_observation(test_obs2)
self.assertEqual(len(of._observations), 2)
self.assertNotEqual(of._observations[0], test_obs2)
self.assertEqual(of._observations[1], test_obs2)
with self.subTest('Cached observation space'):
self.assertEqual(of.get_observation_space(),
spaces.Box(low=0, high=3, shape=(2,)))
with self.subTest('Fresh observation space'):
self.assertEqual(of.get_observation_space(generate=True),
spaces.Box(low=0, high=3, shape=(4,)))
def test_empty(self):
of = obs.ObservationFactory(self.client)
self.assertFalse(of._observations)
self.assertIsNone(of._obs_space)
with self.assertRaises(ValueError):
observations, labels = of.get_obs()
def test_get_obs_single_observation(self):
of = obs.ObservationFactory(self.client)
of.register_observation(CompliantObs(None))
observations, labels = of.get_obs()
np.testing.assert_array_equal(observations, np.array([1, 2]))
self.assertListEqual(labels, ['1', '2'])
def test_register_mismatch(self):
of = obs.ObservationFactory(self.client)
test_obs = CompliantObs(None)
with self.subTest('obs_space mismatch'):
test_obs.labels = ['1', '2', '3']
with self.assertRaises(ValueError):
of.register_observation(test_obs)
with self.subTest('observation mismatch'):
test_obs.observation_space = spaces.Box(low=0, high=3, shape=(3,))
with self.assertRaises(ValueError):
of.register_observation(test_obs)
def test_get_obs_multiple_observations(self):
of = obs.ObservationFactory(self.client)
of.register_observation(CompliantObs(None))
test_obs = CompliantObs(None)
test_obs.compute = lambda: np.array([5, 6])
test_obs.labels = ['5', '6']
of.register_observation(test_obs)
observations, labels = of.get_obs()
np.testing.assert_array_equal(observations, np.array([1, 2, 5, 6]))
self.assertListEqual(labels, ['1', '2', '5', '6'])
def test_get_observation_space_normalized(self):
of = obs.ObservationFactory(self.client, normalize=True)
of.register_observation(CompliantObs(None))
test_obs = CompliantObs(None)
test_obs.observation_space = spaces.Box(low=np.array([5., 6.]),
high=np.array([5., 6.]))
of.register_observation(test_obs)
self.assertEqual(
of.get_observation_space(),
spaces.Box(low=np.array([-1., -1., -1., -1.]),
high=np.array([1., 1., 1., 1.])))
def test_get_observation_space_multiple_observations(self):
of = obs.ObservationFactory(self.client)
of.register_observation(CompliantObs(None))
of.get_observation_space()
test_obs = CompliantObs(None)
test_obs.observation_space = spaces.Box(low=np.array([5., 6.]),
high=np.array([5., 6.]))
of.register_observation(test_obs)
with self.subTest('from cache'):
self.assertEqual(of.get_observation_space(),
CompliantObs.observation_space)
with self.subTest('regenerate cache'):
self.assertEqual(of.get_observation_space(generate=True),
spaces.Box(low=np.array([0., 0., 5., 6.]),
high=np.array([3., 3., 5., 6.])))
def test_get_obs_normalized(self):
of = obs.ObservationFactory(self.client, normalize=True)
test_obs1 = CompliantObs(None)
test_obs1.compute = lambda: np.array([1.5, 1.5])
of.register_observation(test_obs1)
test_obs2 = CompliantObs(None)
test_obs2.compute = lambda: np.array([0., 0.])
of.register_observation(test_obs2)
test_obs3 = CompliantObs(None)
test_obs3.compute = lambda: np.array([3., 3.])
of.register_observation(test_obs3)
observations, _ = of.get_obs()
np.testing.assert_array_equal(observations,
np.array([0., 0., -1., -1., 1., 1.]))
def test_get_obs_no_observations(self):
of = obs.ObservationFactory(self.client)
with self.assertRaises(ValueError):
observations, labels = of.get_obs()
def test_get_observation_space_no_observations(self):
of = obs.ObservationFactory(self.client)
with self.assertRaises(ValueError):
of.get_observation_space()
