def test_state(config):
cfg = {'debug': True}
base = BaseEnvironment(config=config) # Makes geometry changes
env = SensorEnvironment(base, robot=base.robots[0],
config=cfg) # Simulates robot movement
for i in range(20):
done_count = 0
for i in range(100):
env.act([0.0, -0.3])
env.step()
obs, reward, done, _ = env.observe()
maps = obs["maps"]
obs["maps"] = None
print("Obs:")
pprint(obs)
print("Map Shape", maps.shape)
print("Reward:", reward)
print("Done:", done)
time.sleep(0.4)
if done:
done_count += 1
if done_count > 2:
env.reset()
break
print("STATE TEST PASSED")
def test_actions(config):
base = BaseEnvironment(config=config) # Makes geometry changes
env = SensorEnvironment(base,
robot=base.robots[0]) # Simulates robot movement
for i in range(100):
env.act([1, 1])
env.step()
print("ACTION TEST PASSED")
def test_state_image(config):
cfg = {'debug': True}
base = BaseEnvironment(config=config) # Makes geometry changes
env = SensorEnvironment(base, robot=base.robots[0],
config=config) # Simulates robot movement
env.act([0.0, -0.3])
env.step()
pos = env.robot.get_position()
env.pixel_state.save_image(pos, "obs.png")
def test_reset(config):
cfg = {'debug': False}
base = BaseEnvironment(config=config) # Makes geometry changes
env = SensorEnvironment(base, robot=base.robots[0],
config=cfg) # Simulates robot movement
for i in range(100):
for j in range(100):
env.act([0.2, -0.5])
env.step()
obs, reward, done, _ = env.observe()
if done:
break
env.reset()
print("Env reset. Waiting to start...")
time.sleep(2)
print("REST TEST PASSED")
def test_state_shape(config):
cfg = {'debug': True}
base = BaseEnvironment(config=config) # Makes geometry changes
env = SensorEnvironment(base, robot=base.robots[0],
config=cfg) # Simulates robot movement
for i in range(10):
env.act([0.0, -0.3])
env.step()
obs, reward, done, _ = env.observe()
for key in obs:
true_shape = obs[key].shape
expected_shape = env.observation_space[key].shape
if true_shape != expected_shape:
raise ValueError("Expected {} to have shape {}. Got {}".format(
key, expected_shape, true_shape))
print("STATE SHAPE TEST PASSED")
def test_state_bounds(config):
cfg = {'debug': True}
base = BaseEnvironment(config=config) # Makes geometry changes
env = SensorEnvironment(base, robot=base.robots[0],
config=cfg) # Simulates robot movement
for i in range(10):
env.act([0.0, -0.3])
env.step()
obs, reward, done, _ = env.observe()
for key in obs:
state = obs[key]
box = env.observation_space[key]
if not box.contains(state):
raise ValueError("Box {} does not contain {}".format(
box, state))
# Test the whole space
assert (env.observation_space.contains(obs))
print("STATE BOUNDS TEST PASSED")
def test_kafka_sync(config):
"""Test that we can keep in sync with Kafka"""
cfg = {'debug': False}
base = BaseEnvironment(config=config)
env = SensorEnvironment(base,
robot=base.robots[0],
robot_policy="subscribe",
geometry_policy="subscribe",
config=cfg)
for i in range(100):
for j in range(100):
env.act([0.2, -0.5])
env.step()
obs, reward, done, _ = env.observe()
if done:
break
env.reset()
print("KAFKA SYNC TEST PASSED")