| 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)) |
|
|
|
|
