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Script to test composite controllers:
$ pytest -s tests/test_controllers/test_composite_controllers.py
"""
from typing import Dict, List, Union
import mujoco
import numpy as np
import pytest
import robosuite as suite
from robosuite.controllers import load_composite_controller_config
from robosuite.robots import ROBOT_CLASS_MAPPING
def is_robosuite_robot(robot: str) -> bool:
"""
robot is robosuite repo robot if can import robot class from robosuite.models.robots
"""
try:
module = __import__("robosuite.models.robots", fromlist=[robot])
getattr(module, robot)
return True
except (ImportError, AttributeError):
return False
def create_and_test_env(
env: str,
robots: Union[str, List[str]],
controller_config: Dict,
):
config = {
"env_name": env,
"robots": robots,
"controller_configs": controller_config,
}
env = suite.make(
**config,
has_renderer=False,
has_offscreen_renderer=False,
ignore_done=True,
use_camera_obs=False,
reward_shaping=True,
control_freq=20,
)
env.reset()
low, high = env.action_spec
low = np.clip(low, -1, 1)
high = np.clip(high, -1, 1)
# Runs a few steps of the simulation as a sanity check
for i in range(10):
action = np.random.uniform(low, high)
obs, reward, done, _ = env.step(action)
env.close()
@pytest.mark.parametrize("robot", ROBOT_CLASS_MAPPING.keys())
@pytest.mark.parametrize("controller", [None, "BASIC", "WHOLE_BODY_IK"])
def test_basic_controller_predefined_robots(robot, controller):
"""
Tests the basic controller with all predefined robots
(i.e., ALL_ROBOTS) and controller types.
"""
if robot == "SpotArm" and mujoco.__version__ <= "3.1.2":
pytest.skip(
"Skipping test for SpotArm because the robot's mesh only works for Mujoco version 3.1.3 and above"
"Spot arm xml and meshes were taken from: "
"https://github.com/google-deepmind/mujoco_menagerie/tree/main/boston_dynamics_spot"
)
if controller is None and not is_robosuite_robot(robot):
pytest.skip(f"Skipping test for non-robosuite robot {robot} with no specified controller.")
# skip currently problematic robots
if robot == "GR1":
pytest.skip("Skipping GR1 for now due to error with the leg controller.")
if robot == "Jaco":
pytest.skip("Skipping Jaco for now due to error with action formatting.")
controller_config = load_composite_controller_config(
controller=controller,
robot=robot,
)
create_and_test_env(env="Lift", robots=robot, controller_config=controller_config)
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