# Copyright (c) 2020, Fabio Muratore, Honda Research Institute Europe GmbH, and
# Technical University of Darmstadt.
# All rights reserved.
#
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# modification, are permitted provided that the following conditions are met:
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# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# 3. Neither the name of Fabio Muratore, Honda Research Institute Europe GmbH,
# or Technical University of Darmstadt, nor the names of its contributors may
# be used to endorse or promote products derived from this software without
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#
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# OR TECHNICAL UNIVERSITY OF DARMSTADT BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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import numpy as np
import pytest
from tests.environment_wrappers.mock_env import MockEnv
from pyrado.environment_wrappers.action_normalization import ActNormWrapper
from pyrado.spaces.box import BoxSpace
[docs]@pytest.mark.wrapper
def test_space():
# Use mock env
mockenv = MockEnv(act_space=BoxSpace([-2, -1, 0], [2, 3, 1]))
uut = ActNormWrapper(mockenv)
# Check action space bounds
lb, ub = uut.act_space.bounds
assert np.all(lb == -1)
assert np.all(ub == 1)
[docs]@pytest.mark.wrapper
def test_denormalization():
# Use mock env
mockenv = MockEnv(act_space=BoxSpace([-2, -1, 0], [2, 3, 1]))
uut = ActNormWrapper(mockenv)
# Pass a bunch of actions
uut.step(np.array([0, 0, 0]))
assert mockenv.last_act == [0, 1, 0.5]
uut.step(np.array([1, 1, 1]))
assert mockenv.last_act == [2, 3, 1]
uut.step(np.array([-1, -1, -1]))
assert mockenv.last_act == [-2, -1, 0]