87 lines
2.7 KiB
Python
87 lines
2.7 KiB
Python
import gym
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import pytest
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import mujoco_maze
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@pytest.mark.parametrize("maze_id", mujoco_maze.TaskRegistry.keys())
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def test_ant_maze(maze_id):
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if "Billiard" in maze_id:
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return
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for i in range(2):
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env = gym.make(f"Ant{maze_id}-v{i}")
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s0 = env.reset()
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s, _, _, _ = env.step(env.action_space.sample())
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if not env.unwrapped.has_extended_obs:
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assert s0.shape == (30,)
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assert s.shape == (30,)
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@pytest.mark.parametrize("maze_id", mujoco_maze.TaskRegistry.keys())
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def test_point_maze(maze_id):
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for i in range(2):
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env = gym.make(f"Point{maze_id}-v{i}")
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s0 = env.reset()
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s, r, _, _ = env.step(env.action_space.sample())
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if not env.unwrapped.has_extended_obs:
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assert s0.shape == (7,)
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assert s.shape == (7,)
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if env.unwrapped._observe_balls:
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assert s0.shape == (10,)
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assert s.shape == (10,)
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if i == 0:
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assert r != 0.0
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else:
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assert r == env.unwrapped._task.PENALTY
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assert r < 0.0
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@pytest.mark.parametrize("maze_id", ["2Rooms", "4Rooms", "Billiard"])
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def test_subgoal_envs(maze_id):
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env = gym.make(f"Point{maze_id}-v2")
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s0 = env.reset()
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s, r, _, _ = env.step(env.action_space.sample())
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if not env.unwrapped.has_extended_obs:
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assert s0.shape == (7,)
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assert s.shape == (7,)
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elif env.unwrapped._observe_balls:
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assert s0.shape == (10,)
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assert s.shape == (10,)
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assert len(env.unwrapped._task.goals) > 1
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@pytest.mark.parametrize("maze_id", mujoco_maze.TaskRegistry.keys())
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def test_reacher_maze(maze_id):
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for inhibited in ["Fall", "Push", "Block", "Billiard"]:
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if inhibited in maze_id:
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return
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for i in range(2):
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env = gym.make(f"Reacher{maze_id}-v{i}")
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s0 = env.reset()
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s, _, _, _ = env.step(env.action_space.sample())
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if not env.unwrapped.has_extended_obs:
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assert s0.shape == (9,)
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assert s.shape == (9,)
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@pytest.mark.parametrize("maze_id", mujoco_maze.TaskRegistry.keys())
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def test_swimmer_maze(maze_id):
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for inhibited in ["Fall", "Push", "Block", "Billiard"]:
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if inhibited in maze_id:
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return
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for i in range(2):
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env = gym.make(f"Swimmer{maze_id}-v{i}")
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s0 = env.reset()
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s, _, _, _ = env.step(env.action_space.sample())
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if not env.unwrapped.has_extended_obs:
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assert s0.shape == (11,)
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assert s.shape == (11,)
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@pytest.mark.parametrize("v", [0, 1])
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def test_maze_args(v):
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env = gym.make(f"PointTRoom-v{v}", task_kwargs={"goal": (-2.0, -3.0)})
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assert env.reset().shape == (7,)
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s, _, _, _ = env.step(env.action_space.sample())
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assert s.shape == (7,)
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