diff options
Diffstat (limited to 'examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py')
| -rw-r--r-- | examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py | 31 |
1 files changed, 15 insertions, 16 deletions
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py index 51f3c9ae6..1c9ea0e9b 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py +++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py @@ -10,7 +10,7 @@ import random import gin import mock import numpy as np -import tensorflow.compat.v1 as tf +import unittest from absl.testing import parameterized from pybullet_envs.minitaur.envs_v2 import locomotion_gym_env @@ -56,7 +56,7 @@ class TestTask(task_interface.Task): return False -class LocomotionGymEnvTest(tf.test.TestCase, parameterized.TestCase): +class LocomotionGymEnvTest(unittest.TestCase): def setUp(self): super().setUp() @@ -68,7 +68,7 @@ class LocomotionGymEnvTest(tf.test.TestCase, parameterized.TestCase): env = locomotion_gym_env.LocomotionGymEnv() self.assertIsInstance(env.robot, minitaur_v2.Minitaur) # The robot will stand on the ground. - self.assertNear(env.robot.base_position[2], 0.25, 5e-2) + self.assertAlmostEqual(env.robot.base_position[2], 0.25, 1) def test_reset_gym(self): gin.parse_config_file(_CONFIG_FILE) @@ -80,8 +80,8 @@ class LocomotionGymEnvTest(tf.test.TestCase, parameterized.TestCase): action_dim) observations = env_utils.flatten_observations(observations) self.assertEqual(observations.size, 12) - self.assertNear(observations[0], 0, 1e-2) - self.assertNear(observations[4], desired_init_motor_angle, 2e-1) + self.assertAlmostEqual(observations[0], 0, 1) + self.assertAlmostEqual(observations[4], desired_init_motor_angle, 0) def test_step_gym(self): gin.parse_config_file(_CONFIG_FILE) @@ -98,8 +98,8 @@ class LocomotionGymEnvTest(tf.test.TestCase, parameterized.TestCase): self.assertFalse(done) self.assertEqual(reward, steps) self.assertEqual(observations.size, 12) - self.assertNear(observations[0], 0, 1e-2) - self.assertNear(observations[4], desired_motor_angle, 2e-1) + self.assertAlmostEqual(observations[0], 0, 1) + self.assertAlmostEqual(observations[4], desired_motor_angle, 1) np.testing.assert_allclose(env._last_action, [desired_motor_angle] * action_dim, 2e-1) @@ -126,7 +126,7 @@ class LocomotionGymEnvTest(tf.test.TestCase, parameterized.TestCase): env = locomotion_gym_env.LocomotionGymEnv(task=None, scene=None) # The robot will free fall. - self.assertNear(env.robot.base_position[2], 0.15, 5e-2) + self.assertAlmostEqual(env.robot.base_position[2], 0.15, 1) def test_seed_draw_with_np(self): gin.parse_config_file(_CONFIG_FILE) @@ -150,12 +150,11 @@ class LocomotionGymEnvTest(tf.test.TestCase, parameterized.TestCase): action_dim = len(env.action_space.high) observations = env.reset(initial_motor_angles=[desired_init_motor_angle] * action_dim) - self.assertLen(observations, 2) - self.assertLen(observations['IMU'], 4) - self.assertNear(observations['IMU'][0], 0, 1e-2) - self.assertLen(observations['MotorAngle'], 8) - self.assertNear(observations['MotorAngle'][0], desired_init_motor_angle, - 2e-1) + self.assertEqual(len(observations), 2) + self.assertEqual(len(observations['IMU']), 4) + self.assertAlmostEqual(observations['IMU'][0], 0, 2) + self.assertEqual(len(observations['MotorAngle']), 8) + self.assertAlmostEqual(observations['MotorAngle'][0], desired_init_motor_angle,0) @@ -171,7 +170,7 @@ class LocomotionGymEnvTest(tf.test.TestCase, parameterized.TestCase): ]) env = locomotion_gym_env.LocomotionGymEnv() - self.assertLen(env.scene.dynamic_objects, 2) + self.assertEqual(len(env.scene.dynamic_objects), 2) for obj in env.scene.dynamic_objects: self.assertIsInstance(obj, autonomous_object.AutonomousObject) @@ -238,4 +237,4 @@ class LocomotionGymEnvTest(tf.test.TestCase, parameterized.TestCase): if __name__ == '__main__': - tf.test.main() + unittest.main() |