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132 lines
3.9 KiB
Python
132 lines
3.9 KiB
Python
__credits__ = ["Kallinteris-Andreas"]
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import os
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import warnings
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import numpy as np
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import pytest
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from gymnasium import utils
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from gymnasium.envs.mujoco import MujocoEnv
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from gymnasium.error import Error
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from gymnasium.spaces import Box
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from gymnasium.utils.env_checker import check_env
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class PointEnv(MujocoEnv, utils.EzPickle):
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"""
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A simple mujuco env to test third party mujoco env, using the `Gymansium.MujocoEnv` environment API.
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"""
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metadata = {
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"render_modes": [
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"human",
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"rgb_array",
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"depth_array",
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],
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}
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def __init__(self, xml_file="point.xml", frame_skip=1, **kwargs):
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utils.EzPickle.__init__(self, xml_file, frame_skip, **kwargs)
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MujocoEnv.__init__(
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self,
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xml_file,
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frame_skip=frame_skip,
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observation_space=None, # needs to be defined after
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default_camera_config={},
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**kwargs,
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)
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self.metadata = {
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"render_modes": [
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"human",
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"rgb_array",
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"depth_array",
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],
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"render_fps": int(np.round(1.0 / self.dt)),
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}
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obs_size = self.data.qpos.size + self.data.qvel.size
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self.observation_space = Box(
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low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64
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)
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def step(self, action):
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x_position_before = self.data.qpos[0]
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self.do_simulation(action, self.frame_skip)
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x_position_after = self.data.qpos[0]
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observation = self._get_obs()
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reward = x_position_after - x_position_before
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info = {}
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if self.render_mode == "human":
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self.render()
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return observation, reward, False, False, info
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def _get_obs(self):
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position = self.data.qpos.flat.copy()
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velocity = self.data.qvel.flat.copy()
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return np.concatenate((position, velocity))
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def reset_model(self):
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qpos = self.init_qpos
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qvel = self.init_qvel
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self.set_state(qpos, qvel)
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observation = self._get_obs()
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return observation
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def _get_reset_info(self):
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return {"works": True}
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CHECK_ENV_IGNORE_WARNINGS = [
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f"\x1b[33mWARN: {message}\x1b[0m"
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for message in [
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"A Box observation space minimum value is -infinity. This is probably too low.",
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"A Box observation space maximum value is infinity. This is probably too high.",
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"For Box action spaces, we recommend using a symmetric and normalized space (range=[-1, 1] or [0, 1]). See https://stable-baselines3.readthedocs.io/en/master/guide/rl_tips.html for more information.",
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]
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]
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@pytest.mark.parametrize("frame_skip", [1, 2, 3, 4, 5])
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def test_frame_skip(frame_skip):
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"""verify that custom envs work with different `frame_skip` values"""
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env = PointEnv(frame_skip=frame_skip)
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# Test if env adheres to Gym API
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with warnings.catch_warnings(record=True) as w:
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check_env(env.unwrapped, skip_render_check=True)
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env.close()
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for warning in w:
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if warning.message.args[0] not in CHECK_ENV_IGNORE_WARNINGS:
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raise Error(f"Unexpected warning: {warning.message}")
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def test_xml_file():
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"""Verify that the loading of a custom XML file works"""
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relative_path = "./tests/envs/mujoco/assets/walker2d_v5_uneven_feet.xml"
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env = PointEnv(xml_file=relative_path).unwrapped
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assert isinstance(env, MujocoEnv)
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assert env.data.qpos.size == 9
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full_path = os.getcwd() + "/tests/envs/mujoco/assets/walker2d_v5_uneven_feet.xml"
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env = PointEnv(xml_file=full_path).unwrapped
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assert isinstance(env, MujocoEnv)
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assert env.data.qpos.size == 9
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# note can not test user home path (with '~') because github CI does not have a home folder
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def test_reset_info():
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"""Verify that the environment returns info at `reset()`"""
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env = PointEnv()
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_, info = env.reset()
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assert info["works"] is True
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