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from os import path
import numpy as np
from pyrep.objects import Dummy
from rlbench import environment
from rlbench.action_modes.action_mode import MoveArmThenGripper
from rlbench.action_modes.arm_action_modes import JointVelocity, JointPosition, \
EndEffectorPoseViaPlanning, JointTorque, EndEffectorPoseViaIK
from rlbench.action_modes.gripper_action_modes import Discrete
from rlbench.observation_config import ObservationConfig
from rlbench.task_environment import TaskEnvironment
from rlbench.tasks import TakeLidOffSaucepan, ReachTarget
ASSET_DIR = path.join(path.dirname(path.abspath(__file__)), 'assets', 'tasks')
class TestEnvironment(unittest.TestCase):
def tearDown(self):
self.env.shutdown()
def get_task(self, task_class, arm_action_mode, obs_config=None):
if obs_config is None:
obs_config = ObservationConfig()
obs_config.set_all(False)
obs_config.set_all_low_dim(True)
obs_config.right_shoulder_camera.rgb = True
obs_config.left_shoulder_camera.point_cloud = True
mode = MoveArmThenGripper(arm_action_mode, Discrete())
self.env = environment.Environment(
mode, ASSET_DIR, obs_config, headless=True)
self.env.launch()
return self.env.get_task(task_class)
def test_get_task(self):
task = self.get_task(
ReachTarget, JointVelocity())
self.assertIsInstance(task, TaskEnvironment)
self.assertEqual(task.get_name(), 'reach_target')
def test_reset(self):
task = self.get_task(
ReachTarget, JointVelocity())
desc, obs = task.reset()
self.assertIsNotNone(obs.right_shoulder_rgb)
self.assertIsNone(obs.left_shoulder_rgb)
self.assertIsInstance(desc, list)
def test_get_all_camera_observations(self):
obs_config = ObservationConfig()
obs_config.left_shoulder_camera.rgb = True
obs_config.right_shoulder_camera.rgb = True
obs_config.overhead_camera.rgb = True
obs_config.front_camera.rgb = True
obs_config.wrist_camera.rgb = True
task = self.get_task(
ReachTarget, JointVelocity(), obs_config)
desc, obs = task.reset()
self.assertIsNotNone(obs.left_shoulder_rgb)
self.assertIsNotNone(obs.right_shoulder_rgb)
self.assertIsNotNone(obs.overhead_rgb)
self.assertIsNotNone(obs.front_rgb)
self.assertIsNotNone(obs.wrist_rgb)
def test_step(self):
task = self.get_task(
ReachTarget, JointVelocity())
task.reset()
obs, reward, term = task.step(np.random.uniform(size=8))
self.assertIsNotNone(obs.right_shoulder_rgb)
self.assertIsNone(obs.left_shoulder_rgb)
self.assertEqual(reward, 0)
self.assertFalse(term)
def test_get_invalid_number_of_demos(self):
task = self.get_task(
ReachTarget, JointVelocity())
with self.assertRaises(RuntimeError):
task.get_demos(10, live_demos=False, image_paths=True)
def test_get_stored_demos_paths(self):
task = self.get_task(
ReachTarget, JointVelocity())
demos = task.get_demos(2, live_demos=False, image_paths=True)
self.assertEqual(len(demos), 2)
self.assertGreater(len(demos[0]), 0)
self.assertIsInstance(demos[0][0].right_shoulder_rgb, str)
self.assertIsNone(demos[0][0].left_shoulder_rgb)
def test_get_stored_demos_images(self):
task = self.get_task(
ReachTarget, JointVelocity())
demos = task.get_demos(2, live_demos=False, image_paths=False)
self.assertEqual(len(demos), 2)
self.assertGreater(len(demos[0]), 0)
self.assertIsInstance(demos[0][0].right_shoulder_rgb, np.ndarray)
self.assertIsNone(demos[0][0].left_shoulder_rgb)
self.assertIsInstance(demos[0][0].left_shoulder_point_cloud, np.ndarray)
def test_get_stored_demos_images_without_init_sim(self):
obs_config = ObservationConfig()
obs_config.set_all(False)
obs_config.set_all_low_dim(True)
obs_config.right_shoulder_camera.rgb = True
action_mode = MoveArmThenGripper(JointVelocity(), Discrete())
self.env = environment.Environment(
action_mode, ASSET_DIR, obs_config, headless=True)
demos = self.env.get_demos('reach_target', 2)
self.assertEqual(len(demos), 2)
self.assertGreater(len(demos[0]), 0)
self.assertIsInstance(demos[0][0].right_shoulder_rgb, np.ndarray)
self.assertIsNone(demos[0][0].left_shoulder_rgb)
def test_get_live_demos(self):
task = self.get_task(
ReachTarget, JointVelocity())
demos = task.get_demos(2, live_demos=True)
self.assertEqual(len(demos), 2)
self.assertGreater(len(demos[0]), 0)
self.assertIsInstance(demos[0][0].right_shoulder_rgb, np.ndarray)
def test_observation_shape_constant_across_demo(self):
task = self.get_task(
TakeLidOffSaucepan, JointVelocity())
demos = task.get_demos(1, live_demos=True)
self.assertEqual(len(demos), 1)
self.assertGreater(len(demos[0]), 0)
self.assertGreater(demos[0][0].task_low_dim_state.size, 0)
shapes = [step.task_low_dim_state.shape for step in demos[0]]
first_shape = shapes[0]
self.assertListEqual(shapes, [first_shape] * len(demos[0]))
def test_reset_to_demos(self):
task = self.get_task(
TakeLidOffSaucepan, JointVelocity())
demo = task.get_demos(1, live_demos=True)[0]
obs = demo[0]
task.reset_to_demo(demo)
reset_obs = task.get_observation()
# Now check that the state has been properly restored
np.testing.assert_allclose(
reset_obs.joint_positions, obs.joint_positions, atol=1e-1)
np.testing.assert_allclose(
reset_obs.gripper_open, obs.gripper_open, atol=1e-1)
def test_action_mode_abs_joint_velocity(self):
task = self.get_task(
ReachTarget, JointVelocity())
task.reset()
action = [0.1] * 7 + [1]
obs, reward, term = task.step(action)
[self.assertAlmostEqual(0.1, a, delta=0.05)
for a in obs.joint_velocities]
def test_action_mode_abs_joint_position(self):
task = self.get_task(
ReachTarget, JointPosition(True))
_, obs = task.reset()
init_angles = np.append(obs.joint_positions, 1.) # for gripper
target_angles = np.array(init_angles) + 0.05
[task.step(target_angles) for _ in range(5)]
obs, reward, term = task.step(target_angles)
[self.assertAlmostEqual(a, actual, delta=0.05)
for a, actual in zip(target_angles, obs.joint_positions)]
def test_action_mode_delta_joint_position(self):
task = self.get_task(
ReachTarget, JointPosition(False))
_, obs = task.reset()
init_angles = obs.joint_positions
target_angles = np.array(init_angles) + 0.06
[task.step([0.01] * 7 + [1]) for _ in range(5)]
obs, reward, term = task.step([0.01] * 8)
[self.assertAlmostEqual(a, actual, delta=0.05)
for a, actual in zip(target_angles, obs.joint_positions)]
def test_action_mode_abs_ee_pose_ik_world_frame(self):
task = self.get_task(
ReachTarget, EndEffectorPoseViaIK(True, 'world'))
_, obs = task.reset()
init_pose = obs.gripper_pose
new_pose = np.append(init_pose, 1.0) # for gripper
new_pose[2] -= 0.1 # 10cm down
obs, reward, term = task.step(new_pose)
[self.assertAlmostEqual(a, p, delta=0.01)
for a, p in zip(new_pose, obs.gripper_pose)]
def test_action_mode_delta_ee_pose_ik_world_frame(self):
task = self.get_task(
ReachTarget, EndEffectorPoseViaIK(False, 'world'))
_, obs = task.reset()
init_pose = obs.gripper_pose
new_pose = [0, 0, -0.1, 0, 0, 0, 1.0, 1.0] # 10cm down
expected_pose = list(init_pose)
expected_pose[2] -= 0.1
obs, reward, term = task.step(new_pose)
[self.assertAlmostEqual(a, p, delta=0.01)
for a, p in zip(expected_pose, obs.gripper_pose)]
def test_action_mode_abs_ee_pose_plan_world_frame(self):
task = self.get_task(
ReachTarget, EndEffectorPoseViaPlanning(True, 'world'))
_, obs = task.reset()
init_pose = obs.gripper_pose
new_pose = np.append(init_pose, 1.0) # for gripper
new_pose[2] -= 0.1 # 10cm down
obs, reward, term = task.step(new_pose)
[self.assertAlmostEqual(a, p, delta=0.001)
for a, p in zip(new_pose, obs.gripper_pose)]
def test_action_mode_delta_ee_pose_plan_world_frame(self):
task = self.get_task(
ReachTarget, EndEffectorPoseViaPlanning(False, 'world'))
_, obs = task.reset()
init_pose = obs.gripper_pose
new_pose = [0, 0, -0.1, 0, 0, 0, 1.0, 1.0] # 10cm down
expected_pose = list(init_pose)
expected_pose[2] -= 0.1
obs, reward, term = task.step(new_pose)
[self.assertAlmostEqual(a, p, delta=0.001)
for a, p in zip(expected_pose, obs.gripper_pose)]
def test_action_mode_ee_pose_ik_ee_frame(self):
task = self.get_task(
ReachTarget, EndEffectorPoseViaIK(True, 'end effector'))
_, obs = task.reset()
dummy = Dummy.create()
dummy.set_position([0, 0, 0.05], relative_to=task._robot.arm.get_tip())
action = [0, 0, 0.05, 0, 0, 0, 1, 1]
obs, reward, term = task.step(action)
[self.assertAlmostEqual(a, p, delta=0.01)
for a, p in zip(dummy.get_position(), obs.gripper_pose[:3])]
def test_action_mode_ee_pose_plan_ee_frame(self):
task = self.get_task(
ReachTarget, EndEffectorPoseViaPlanning(True, 'end effector'))
_, obs = task.reset()
dummy = Dummy.create()
dummy.set_position([0, 0, 0.05], relative_to=task._robot.arm.get_tip())
action = [0, 0, 0.05, 0, 0, 0, 1, 1]
obs, reward, term = task.step(action)
[self.assertAlmostEqual(a, p, delta=0.01)
for a, p in zip(dummy.get_position(), obs.gripper_pose[:3])]
def test_action_mode_abs_joint_torque(self):
task = self.get_task(
ReachTarget, JointTorque())
task.reset()
action = [0.1, -0.1, 0.1, -0.1, 0.1, -0.1, 0.1, 1.0]
obs, reward, term = task.step(action)
# Difficult to test given gravity, so just check for exceptions.
def test_swap_arm(self):
# Checks if the environment can be setup with each arm
action_mode = MoveArmThenGripper(JointVelocity(), Discrete())
for robot_config in environment.SUPPORTED_ROBOTS.keys():
with self.subTest(robot_config=robot_config):
self.env = environment.Environment(
action_mode, headless=True,
robot_setup=robot_config)
self.env.launch()
self.env.shutdown()
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