updated tests.

- UnitreeH1 is not included for now.
robfiras · Nov 8, 2023 · 7daba2b · 7daba2b
1 parent c341991
commit 7daba2b
Showing 1 changed file with 18 additions and 17 deletions.
diff --git a/tests/test_environments.py b/tests/test_environments.py
@@ -71,27 +71,28 @@ def test_all_environments():
 
     for task_name in task_names:
 
-        np.random.seed(0)
+        if "UnitreeH1" not in task_name:
+            np.random.seed(0)
 
-        print(f"Testing {task_name}...")
-        # --- native environment ---
-        task_env = LocoEnv.make(task_name, debug=True)
-        dataset = run_environment(task_env, N_EPISODES, N_STEPS)
+            print(f"Testing {task_name}...")
+            # --- native environment ---
+            task_env = LocoEnv.make(task_name, debug=True)
+            dataset = run_environment(task_env, N_EPISODES, N_STEPS)
 
-        np.random.seed(0)
-        # --- run gymnasium environment ---
-        task_env = gym.make("LocoMujoco", env_name=task_name, debug=True)
-        dataset_gym = run_environment_gymnasium(task_env, N_EPISODES, N_STEPS)
+            np.random.seed(0)
+            # --- run gymnasium environment ---
+            task_env = gym.make("LocoMujoco", env_name=task_name, debug=True)
+            dataset_gym = run_environment_gymnasium(task_env, N_EPISODES, N_STEPS)
 
-        file_name = task_name + ".npy"
-        dataset_path = Path(loco_mujoco.__file__).resolve().parent.parent / "tests" / path / file_name
+            file_name = task_name + ".npy"
+            dataset_path = Path(loco_mujoco.__file__).resolve().parent.parent / "tests" / path / file_name
 
-        test_dataset = np.load(dataset_path)
+            test_dataset = np.load(dataset_path)
 
-        if not np.allclose(dataset, test_dataset):
-            return False
-        if not np.allclose(dataset_gym, test_dataset):
-            return False
+            if not np.allclose(dataset, test_dataset):
+                return False
+            if not np.allclose(dataset_gym, test_dataset):
+                return False
 
     return True
 
@@ -102,7 +103,7 @@ def test_replays():
 
     for task_name in task_names:
 
-        if "Talos" not in task_name and "Muscle" not in task_name and "Unitree" not in task_name:
+        if "UnitreeH1" not in task_name:
 
             np.random.seed(0)