def create_adapter(self, domain='Sawyer', task='Lift', *args, **kwargs):
return RobosuiteAdapter(domain,
task,
*args,
**kwargs,
has_renderer=False,
has_offscreen_renderer=False,
use_camera_obs=False)
def test_environment_kwargs(self):
env_kwargs = {
"has_renderer": False,
"has_offscreen_renderer": False,
"use_camera_obs": False,
"control_freq": 10,
"horizon": 1000
}
env = RobosuiteAdapter(domain='Sawyer', task='Lift', **env_kwargs)
observation1, reward, done, info = env.step(env.action_space.sample())
self.assertAlmostEqual(reward, 0.0)
for key, expected_value in env_kwargs.items():
actual_value = getattr(env.unwrapped, key)
self.assertEqual(actual_value, expected_value)
def test_rescale_observation_raises_exception(self):
environment_kwargs = {
'domain': 'Sawyer',
'task': 'Lift',
'rescale_observation_range': (-1.0, 1.0),
}
with pytest.raises(NotImplementedError,
match=r"Observation rescaling .*"):
environment = RobosuiteAdapter(**environment_kwargs)
def verify_reset_and_step(domain, task):
env = RobosuiteAdapter(domain=domain,
task=task,
has_renderer=False,
has_offscreen_renderer=False,
use_camera_obs=False)
env.reset()
env.step(env.action_space.sample())
def test_fails_with_unnormalized_action_spec(self):
from robosuite.environments.sawyer_lift import SawyerLift
class UnnormalizedEnv(SawyerLift):
@property
def dof(self):
return 5
@property
def action_spec(self):
low, high = np.ones(self.dof) * -2.0, np.ones(self.dof) * 2.0
return low, high
env = UnnormalizedEnv(has_renderer=False,
has_offscreen_renderer=False,
use_camera_obs=False)
with self.assertRaises(AssertionError):
adapter = RobosuiteAdapter(domain=None, task=None, env=env)
