adapt tests for use of bullet client wrapper

dfki-ric · Feb 11, 2024 · 926e31b · 926e31b
1 parent 1ced7fa
commit 926e31b
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Showing 18 changed files with 46 additions and 26 deletions.
diff --git a/tests/envs/test_floating_mia_grasp_env.py b/tests/envs/test_floating_mia_grasp_env.py
@@ -61,31 +61,32 @@ def test_initial_sensor_info(env: FloatingMiaGraspEnv):
 def test_episode_reproducibility():
     observations = []
     termination_flags = []
+    actions = []
 
     env = FloatingMiaGraspEnv(
         verbose=False,
-        horizon=10,
+        horizon=3,
         gui=False,
-        observable_object_pos=True,
         object_name="insole_on_conveyor_belt/back",
-        difficulty_mode="hard",
     )
-    env = RescaleAction(env, 0., 1.)
-
-    env.action_space.seed(SEED)
 
     for _ in range(2):
         observation, _ = env.reset(seed=SEED)
+        env.action_space.seed(SEED)
+
         observations.append([observation])
         terminated = False
         termination_flags.append([terminated])
+        actions.append([])
         while not terminated:
             action = env.action_space.sample()
+            actions[-1].append(action)
             observation, reward, terminated, truncated, info = env.step(action)
 
             observations[-1].append(observation)
             termination_flags[-1].append(terminated)
 
+    assert_allclose(actions[0], actions[1])
     assert_allclose(observations[0], observations[1])
     assert_allclose(termination_flags[0], termination_flags[1])
 

diff --git a/tests/envs/test_parallel_envs.py b/tests/envs/test_parallel_envs.py
@@ -4,8 +4,16 @@
 
 
 def test_parallel_envs():
-    env = gymnasium.make("FloatingMiaGraspInsole-v0", gui=False)
-    env2 = gymnasium.make("FloatingMiaGraspInsole-v0", gui=False)
+    env = gymnasium.make(
+        "FloatingMiaGraspInsole-v0",
+        gui=False,
+        horizon=10
+    )
+    env2 = gymnasium.make(
+        "FloatingMiaGraspInsole-v0",
+        gui=False,
+        horizon=10
+    )
 
     obs, info = env.reset(seed=SEED)
     num_steps = 0
@@ -26,7 +34,7 @@ def test_parallel_envs():
 
         obs, reward, terminated, truncated, _ = env.step(action)
         num_steps += 1
-        obs2, reward2, terminated2, truncated2, _ = env.step(action2)
+        obs2, reward2, terminated2, truncated2, _ = env2.step(action2)
         num_steps2 += 1
         episode_return += reward
         episode_return2 += reward2

diff --git a/tests/objects/test_box.py b/tests/objects/test_box.py
@@ -11,7 +11,8 @@
 
 
 def test_box(simulation):
-    obj, _, _ = ObjectFactory().create("box", object_position=TEST_POS, object_orientation=TEST_ORN)
+    obj, _, _ = ObjectFactory(simulation.pb_client).create(
+        "box", object_position=TEST_POS, object_orientation=TEST_ORN)
     pose = obj.get_pose()
     assert_array_almost_equal(pose, np.array([0, 0, 1, 1, 0, 0, 0]))
 

diff --git a/tests/objects/test_capsule.py b/tests/objects/test_capsule.py
@@ -8,7 +8,8 @@
 
 
 def test_capsule_creation(simulation):
-    obj, _, _ = ObjectFactory().create("capsule", object_position=TEST_POS, object_orientation=TEST_ORN)
+    obj, _, _ = ObjectFactory(simulation.pb_client).create(
+        "capsule", object_position=TEST_POS, object_orientation=TEST_ORN)
     pose = obj.get_pose()
     assert_array_almost_equal(pose, np.array([0, 0, 1, 1, 0, 0, 0]))
 

diff --git a/tests/objects/test_cylinder.py b/tests/objects/test_cylinder.py
@@ -8,7 +8,8 @@
 
 
 def test_cylinder_creation(simulation):
-    obj, _, _ = ObjectFactory().create("cylinder", object_position=TEST_POS, object_orientation=TEST_ORN)
+    obj, _, _ = ObjectFactory(simulation.pb_client).create(
+        "cylinder", object_position=TEST_POS, object_orientation=TEST_ORN)
     pose = obj.get_pose()
     assert_array_almost_equal(pose, np.array([0, 0, 1, 1, 0, 0, 0]))
 

diff --git a/tests/objects/test_insole.py b/tests/objects/test_insole.py
@@ -11,7 +11,8 @@
 
 
 def test_insole_creation(simulation):
-    obj, _, _ = ObjectFactory().create("insole", object_position=TEST_POS, object_orientation=TEST_ORN)
+    obj, _, _ = ObjectFactory(simulation.pb_client).create(
+        "insole", object_position=TEST_POS, object_orientation=TEST_ORN)
     pose = obj.get_pose()
     assert_array_almost_equal(pose, np.array([0, 0, 1, 1, 0, 0, 0]), decimal=1)
 

diff --git a/tests/objects/test_insole_on_conveyor.py b/tests/objects/test_insole_on_conveyor.py
@@ -10,7 +10,7 @@
 
 @pytest.mark.skip("TODO")
 def test_insole_ob_conveyor_creation(simulation):
-    obj, _, _ = ObjectFactory().create(
+    obj, _, _ = ObjectFactory(simulation.pb_client).create(
         "insole_on_conveyor_belt/back",
         object_position=TEST_POS,
         object_orientation=TEST_ORN)

diff --git a/tests/objects/test_pillow.py b/tests/objects/test_pillow.py
@@ -11,7 +11,7 @@
 
 
 def test_pillow(simulation):
-    obj, _, _ = ObjectFactory().create("pillow_small", object_position=TEST_POS, object_orientation=TEST_ORN)
+    obj, _, _ = ObjectFactory(simulation.pb_client).create("pillow_small", object_position=TEST_POS, object_orientation=TEST_ORN)
     pose = obj.get_pose()
     assert_array_almost_equal(pose, np.array([0, 0, 1, 1, 0, 0, 0]), decimal=1)
 

diff --git a/tests/objects/test_sphere.py b/tests/objects/test_sphere.py
@@ -11,7 +11,10 @@
 
 
 def test_sphere(simulation):
-    obj, _, _ = ObjectFactory().create("sphere", object_position=TEST_POS, object_orientation=TEST_ORN)
+    obj, _, _ = ObjectFactory(simulation.pb_client).create(
+        "sphere",
+        object_position=TEST_POS,
+        object_orientation=TEST_ORN)
     pose = obj.get_pose()
     assert_array_almost_equal(pose, np.array([0, 0, 1, 1, 0, 0, 0]))
 

diff --git a/tests/objects/test_urdf_object.py b/tests/objects/test_urdf_object.py
@@ -11,8 +11,12 @@
 
 
 def test_urdf_object_creation(simulation):
-    obj = UrdfObject("plane.urdf", world_pos=TEST_POS, world_orn=TEST_ORN, fixed=True,
-                     client_id=simulation.get_physics_client_id())
+    obj = UrdfObject(
+        "plane.urdf",
+        simulation.pb_client,
+        world_pos=TEST_POS,
+        world_orn=TEST_ORN,
+        fixed=True)
     pose = obj.get_pose()
     assert_array_almost_equal(pose, np.array([0, 0, 1, 1, 0, 0, 0]))
 

diff --git a/tests/robots/test_mia_hand_position.py b/tests/robots/test_mia_hand_position.py
@@ -12,7 +12,7 @@
 @pytest.fixture
 def robot(simulation):
     robot = MiaHandPosition(
-        pb_client_id=simulation.get_physics_client_id(),
+        pb_client=simulation.pb_client,
         world_pos=TEST_POS,
         world_orn=TEST_ORN,
         base_commands=True)

diff --git a/tests/robots/test_mia_hand_velocity.py b/tests/robots/test_mia_hand_velocity.py
@@ -12,7 +12,7 @@
 @pytest.fixture
 def robot(simulation):
     robot = MiaHandVelocity(
-        pb_client_id=simulation.get_physics_client_id(),
+        pb_client=simulation.pb_client,
         world_pos=TEST_POS,
         world_orn=TEST_ORN,
         base_commands=True)

diff --git a/tests/robots/test_shadow_hand_position.py b/tests/robots/test_shadow_hand_position.py
@@ -12,7 +12,7 @@
 @pytest.fixture
 def robot(simulation):
     robot = ShadowHandPosition(
-        pb_client_id=simulation.get_physics_client_id(),
+        pb_client=simulation.pb_client,
         world_pos=TEST_POS,
         world_orn=TEST_ORN,
         base_commands=True)

diff --git a/tests/robots/test_shadow_hand_velocity.py b/tests/robots/test_shadow_hand_velocity.py
@@ -12,7 +12,7 @@
 @pytest.fixture
 def robot(simulation):
     robot = ShadowHandVelocity(
-        pb_client_id=simulation.get_physics_client_id(),
+        pb_client=simulation.pb_client,
         world_pos=TEST_POS,
         world_orn=TEST_ORN,
         base_commands=True)

diff --git a/tests/robots/test_ur10_shadow_position.py b/tests/robots/test_ur10_shadow_position.py
@@ -7,7 +7,7 @@
 
 @pytest.fixture
 def robot(simulation):
-    robot = UR10ShadowPosition(pb_client_id=simulation.get_physics_client_id())
+    robot = UR10ShadowPosition(pb_client=simulation.pb_client)
     return robot
 
 

diff --git a/tests/robots/test_ur10_shadow_velocity.py b/tests/robots/test_ur10_shadow_velocity.py
@@ -7,7 +7,7 @@
 
 @pytest.fixture
 def robot(simulation):
-    robot = UR10ShadowVelocity(pb_client_id=simulation.get_physics_client_id())
+    robot = UR10ShadowVelocity(pb_client=simulation.pb_client)
     simulation.add_robot(robot)
 
     return robot

diff --git a/tests/robots/test_ur5_mia_position.py b/tests/robots/test_ur5_mia_position.py
@@ -7,7 +7,7 @@
 
 @pytest.fixture
 def robot(simulation):
-    robot = UR5MiaPosition(pb_client_id=simulation.get_physics_client_id())
+    robot = UR5MiaPosition(pb_client=simulation.pb_client)
 
     return robot
 

diff --git a/tests/robots/test_ur5_mia_velocity.py b/tests/robots/test_ur5_mia_velocity.py
@@ -7,7 +7,7 @@
 
 @pytest.fixture
 def robot(simulation):
-    robot = UR5MiaVelocity(simulation.get_physics_client_id())
+    robot = UR5MiaVelocity(simulation.pb_client)
 
     return robot