From 2ba7315bdbb3ccb7a234323c42571b63bc7dc0e8 Mon Sep 17 00:00:00 2001
From: Melvin Laux <melvin.laux@dfki.de>
Date: Mon, 27 May 2024 19:45:36 +0200
Subject: [PATCH] set correct values for tests

---
 tests/envs/test_floating_mia_grasp_env.py    |  6 ++++--
 tests/envs/test_floating_shadow_grasp_env.py |  8 +++-----
 tests/envs/test_ur10_shadow_grasp_env.py     |  8 ++++----
 tests/envs/test_ur5_mia_grasp_env.py         | 12 ++++++++----
 4 files changed, 19 insertions(+), 15 deletions(-)

diff --git a/tests/envs/test_floating_mia_grasp_env.py b/tests/envs/test_floating_mia_grasp_env.py
index fbd8020..201e726 100644
--- a/tests/envs/test_floating_mia_grasp_env.py
+++ b/tests/envs/test_floating_mia_grasp_env.py
@@ -10,11 +10,13 @@ def env():
         gui=False,
         verbose=False,
         horizon=10,
-        object_name="insole_on_conveyor_belt/back")
+        object_name="insole_on_conveyor_belt/back",
+        #observable_object_pos=True,
+    )
 
 
-action_space_dims_expected = 10
 observation_space_dims_expected = 16
+action_space_dims_expected = 10
 SEED = 42
 
 
diff --git a/tests/envs/test_floating_shadow_grasp_env.py b/tests/envs/test_floating_shadow_grasp_env.py
index 2838946..3d5f3c3 100644
--- a/tests/envs/test_floating_shadow_grasp_env.py
+++ b/tests/envs/test_floating_shadow_grasp_env.py
@@ -1,8 +1,7 @@
 import pytest
 from numpy.testing import assert_allclose
 
-from deformable_gym.envs.floating_shadow_grasp_env import \
-    FloatingShadowGraspEnv
+from deformable_gym.envs.floating_shadow_grasp_env import (FloatingShadowGraspEnv)
 
 
 @pytest.fixture
@@ -16,8 +15,8 @@ def env():
     )
 
 
-observation_space_dims_expected = 28
-action_space_dims_expected = 32
+observation_space_dims_expected = 31
+action_space_dims_expected = 31
 SEED = 42
 
 
@@ -35,7 +34,6 @@ def test_obs_space_dims(env: FloatingShadowGraspEnv):
     obs_space = env.observation_space
     assert obs_space.shape[0] == obs_space_dims_expected
 
-
 def test_initial_sensor_info(env: FloatingShadowGraspEnv):
     sensor_readings = []
     env.action_space.seed(SEED)
diff --git a/tests/envs/test_ur10_shadow_grasp_env.py b/tests/envs/test_ur10_shadow_grasp_env.py
index 3db9288..d3763cb 100644
--- a/tests/envs/test_ur10_shadow_grasp_env.py
+++ b/tests/envs/test_ur10_shadow_grasp_env.py
@@ -8,15 +8,15 @@
 def env():
     return UR10ShadowGraspEnv(
         gui=False,
-        verbose=True,
+        verbose=False,
         horizon=10,
         object_name="insole",
-        #observable_object_pos=True,
+        observable_object_pos=True,
     )
 
 
-observation_space_dims_expected = 28
-action_space_dims_expected = 32
+observation_space_dims_expected = 31
+action_space_dims_expected = 31
 SEED = 42
 
 
diff --git a/tests/envs/test_ur5_mia_grasp_env.py b/tests/envs/test_ur5_mia_grasp_env.py
index 1f94c34..de39fca 100644
--- a/tests/envs/test_ur5_mia_grasp_env.py
+++ b/tests/envs/test_ur5_mia_grasp_env.py
@@ -8,9 +8,10 @@
 def env():
     return UR5MiaGraspEnv(
         gui=False,
-        verbose=True,
+        verbose=False,
         horizon=10,
         object_name="insole",
+        #observable_object_pos=True,
     )
 
 
@@ -26,9 +27,12 @@ def test_action_space_dims(env):
 
 def test_obs_space_dims(env):
     if env._observable_object_pos:
-        assert env.observation_space.shape[0] == observation_space_dims_expected + 3
+        obs_space_dims_expected = observation_space_dims_expected + 3
     else:
-        assert env.observation_space.shape[0] == observation_space_dims_expected
+        obs_space_dims_expected = observation_space_dims_expected
+
+    obs_space = env.observation_space
+    assert obs_space.shape[0] == obs_space_dims_expected
 
 
 def test_episode_reproducibility():
@@ -70,7 +74,7 @@ def test_eps_done(env):
         action = env.action_space.sample()
         obs, reward, terminated, truncated, info = env.step(action)
 
-        assert len(obs) == 16
+        assert len(obs) == observation_space_dims_expected
         assert isinstance(reward, float)
         assert isinstance(terminated, bool)
         assert not terminated