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58 lines
1.9 KiB
Python
58 lines
1.9 KiB
Python
import numpy as np
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import pytest
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import gym
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from gym import envs
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from tests.envs.utils import mujoco_testing_env_specs
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EPS = 1e-6
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def verify_environments_match(
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old_env_id: str, new_env_id: str, seed: int = 1, num_actions: int = 1000
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):
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"""Verifies with two environment ids (old and new) are identical in obs, reward and done
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(except info where all old info must be contained in new info)."""
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old_env = envs.make(old_env_id, disable_env_checker=True)
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new_env = envs.make(new_env_id, disable_env_checker=True)
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old_reset_obs = old_env.reset(seed=seed)
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new_reset_obs = new_env.reset(seed=seed)
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np.testing.assert_allclose(old_reset_obs, new_reset_obs)
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for i in range(num_actions):
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action = old_env.action_space.sample()
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old_obs, old_reward, old_done, old_info = old_env.step(action)
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new_obs, new_reward, new_done, new_info = new_env.step(action)
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np.testing.assert_allclose(old_obs, new_obs, atol=EPS)
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np.testing.assert_allclose(old_reward, new_reward, atol=EPS)
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np.testing.assert_equal(old_done, new_done)
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for key in old_info:
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np.testing.assert_allclose(old_info[key], new_info[key], atol=EPS)
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if old_done:
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break
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MUJOCO_V2_V3_ENVS = [
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spec.name
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for spec in mujoco_testing_env_specs
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if spec.version == 2 and f"{spec.name}-v3" in gym.envs.registry
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]
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@pytest.mark.parametrize("env_name", MUJOCO_V2_V3_ENVS)
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def test_mujoco_v2_to_v3_conversion(env_name: str):
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"""Checks that all v2 mujoco environments are the same as v3 environments."""
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verify_environments_match(f"{env_name}-v2", f"{env_name}-v3")
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@pytest.mark.parametrize("env_name", MUJOCO_V2_V3_ENVS)
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def test_mujoco_incompatible_v3_to_v2(env_name: str):
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"""Checks that the v3 environment are slightly different from v2, (v3 has additional info keys that v2 does not)."""
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with pytest.raises(KeyError):
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verify_environments_match(f"{env_name}-v3", f"{env_name}-v2")
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