# Copyright (c) 2020, Fabio Muratore, Honda Research Institute Europe GmbH, and
# Technical University of Darmstadt.
# All rights reserved.
#
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# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
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# 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
# specific prior written permission.
#
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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.observation_normalization import ObsNormWrapper
from pyrado.spaces.box import BoxSpace
[docs]@pytest.fixture(scope="function", ids=["mock_obs_space"])
def mock_obs_space():
return BoxSpace([-2, -1, 0], [2, 3, 1])
[docs]@pytest.mark.wrapper
def test_space(mock_obs_space):
mockenv = MockEnv(obs_space=mock_obs_space)
wenv = ObsNormWrapper(mockenv)
# Check observation space bounds
lb, ub = wenv.obs_space.bounds
assert np.all(lb == -1)
assert np.all(ub == 1)
[docs]@pytest.mark.wrapper
def test_denormalization(mock_obs_space):
mockenv = MockEnv(obs_space=mock_obs_space)
wenv = ObsNormWrapper(mockenv)
for _ in range(100):
# Generate random observations
obs, _, _, _ = wenv.step(np.array([0, 0, 0]))
assert (abs(obs) <= 1).all