def test_higher_level_step():
"""Tests environment for higher level steps correctly"""
hiro_agent = HIRO(config)
ll_env = hiro_agent.lower_level_agent.environment
h_env = hiro_agent.higher_level_agent.environment
h_env.reset()
# HIRO.goal_transition = lambda x, y, z: y
state_before = hiro_agent.higher_level_state
assert hiro_agent.higher_level_next_state is None
next_state, reward, done, _ = h_env.step(np.array([-1.0, 2.0, 3.0]))
assert np.allclose(
hiro_agent.goal,
HIRO.goal_transition(state_before, np.array([-1.0, 2.0, 3.0]),
next_state))
assert all(hiro_agent.higher_level_state == next_state)
assert all(hiro_agent.higher_level_next_state == next_state)
assert hiro_agent.higher_level_reward == reward
assert hiro_agent.higher_level_done == done
assert next_state.shape[0] == 3
assert isinstance(reward, float)
assert not done
for _ in range(200):
next_state, reward, done, _ = h_env.step(np.array([-1.0, 2.0, 3.0]))
assert all(hiro_agent.higher_level_next_state == next_state)
assert all(hiro_agent.higher_level_next_state == next_state)
assert hiro_agent.higher_level_reward == reward
assert hiro_agent.higher_level_done == done
def test_goal_transition():
"""Tests environment does goal transitions properly"""
hiro_agent.higher_level_state = 2
hiro_agent.goal = 9
next_state = 3
assert HIRO.goal_transition(hiro_agent.higher_level_state, hiro_agent.goal,
next_state) == 8
hiro_agent.higher_level_state = 2
hiro_agent.goal = 9
next_state = 3
ll_env.update_goal(next_state)
assert hiro_agent.goal == 8
h_env.reset()
hiro_agent.goal = np.array([2.0, 4.0, -3.0])
hiro_agent.higher_level_reward = 0
ll_env.reset()
state = hiro_agent.higher_level_state
next_state, reward, done, _ = ll_env.step(np.array([random.random()]))
assert all(hiro_agent.goal == state + np.array([2.0, 4.0, -3.0]) -
next_state[0:3])