def rodent_two_touch(random_state=None):
"""Requires a rodent to tap an orb, wait an interval, and tap it again."""
# Build a position-controlled rodent walker.
walker = rodent.Rat(
observable_options={'egocentric_camera': dict(enabled=True)})
arena = floors.Floor(size=(10., 10.), aesthetic='outdoor_natural')
task = reach.TwoTouch(
walker=walker,
arena=arena,
target_builders=[
functools.partial(target_sphere.TargetSphereTwoTouch,
radius=0.025),
],
randomize_spawn_rotation=True,
target_type_rewards=[25.],
shuffle_target_builders=False,
target_area=(1.5, 1.5),
physics_timestep=_PHYSICS_TIMESTEP,
control_timestep=_CONTROL_TIMESTEP,
)
return composer.Environment(time_limit=30,
task=task,
random_state=random_state,
strip_singleton_obs_buffer_dim=True)
def test_observables(self):
walker = rodent.Rat()
arena = floors.Floor(
size=(10., 10.),
aesthetic='outdoor_natural')
task = reach.TwoTouch(
walker=walker,
arena=arena,
target_builders=[
functools.partial(target_sphere.TargetSphereTwoTouch, radius=0.025),
],
randomize_spawn_rotation=True,
target_type_rewards=[25.],
shuffle_target_builders=False,
target_area=(1.5, 1.5),
physics_timestep=_PHYSICS_TIMESTEP,
control_timestep=_CONTROL_TIMESTEP,
)
random_state = np.random.RandomState(12345)
env = composer.Environment(task, random_state=random_state)
timestep = env.reset()
self.assertIn('walker/joints_pos', timestep.observation)