File size: 2,529 Bytes
a32fcea | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 | import unittest
from os import path
from os.path import join
from pyrep import PyRep
from pyrep.robots.arms.panda import Panda
from pyrep.robots.end_effectors.panda_gripper import PandaGripper
from rlbench import environment
from rlbench.backend.const import TTT_FILE
from rlbench.backend.scene import Scene
from rlbench.noise_model import GaussianNoise
from rlbench.observation_config import ObservationConfig, CameraConfig
import numpy as np
from rlbench.backend.robot import Robot
from rlbench.backend.robot import UnimanualRobot
from rlbench.tasks.reach_target import ReachTarget
ASSET_DIR = path.join(path.dirname(path.abspath(__file__)), 'assets', 'tasks')
class TestScene(unittest.TestCase):
"""Tests the following:
- Getting observations from the scene
- Applying noise
- Applying domain randomization
"""
def setUp(self):
self.pyrep = PyRep()
self.pyrep.launch(join(environment.DIR_PATH, TTT_FILE), headless=True)
self.pyrep.set_simulation_timestep(0.005)
self.robot = UnimanualRobot(Panda(), PandaGripper())
def tearDown(self):
self.pyrep.shutdown()
def test_sensor_noise_images(self):
cam_config = CameraConfig(rgb_noise=GaussianNoise(0.05, (.0, 1.)))
obs_config = ObservationConfig(
left_shoulder_camera=cam_config,
joint_forces=False,
task_low_dim_state=False)
scene = Scene(self.pyrep, self.robot, obs_config)
scene.load(ReachTarget(self.pyrep, self.robot))
obs1 = scene.get_observation()
obs2 = scene.get_observation()
self.assertTrue(
np.array_equal(obs1.right_shoulder_rgb, obs2.right_shoulder_rgb))
self.assertFalse(
np.array_equal(obs1.left_shoulder_rgb, obs2.left_shoulder_rgb))
self.assertTrue(obs1.left_shoulder_rgb.max() <= 255)
self.assertTrue(obs1.left_shoulder_rgb.min() >= 0)
def test_sensor_noise_robot(self):
obs_config = ObservationConfig(
joint_velocities_noise=GaussianNoise(0.01),
joint_forces=False,
task_low_dim_state=False)
scene = Scene(self.pyrep, self.robot, obs_config)
scene.load(ReachTarget(self.pyrep, self.robot))
obs1 = scene.get_observation()
obs2 = scene.get_observation()
self.assertTrue(
np.array_equal(obs1.joint_positions, obs2.joint_positions))
self.assertFalse(
np.array_equal(obs1.joint_velocities, obs2.joint_velocities))
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