47372443ff
Upstream: https://github.com/pollen-robotics/microduck_rl Upstream-Commit: d424a0c899f6b33cbd3daeb279913134349c0b63 Upstream-Branch: develop
58 lines
2.4 KiB
Python
58 lines
2.4 KiB
Python
from mjlab_microduck.tasks.microduck_ground_pick_env_cfg import (
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make_microduck_ground_pick_env_cfg,
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)
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from mjlab_microduck.tasks.mdp import GroundPickPhaseCommand
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def test_ground_pick_cfg_task_space_rewards():
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"""Objectif espace-tâche : bouche près du sol (sans toucher) + orientée."""
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cfg = make_microduck_ground_pick_env_cfg()
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r = cfg.rewards
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# proximité bouche->sol (tire vers le bas)
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assert "mouth_ground_proximity" in r
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assert r["mouth_ground_proximity"].weight == 3.0
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assert r["mouth_ground_proximity"].params["target_height"] == 0.0
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# orientation bouche vers le bas
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assert "mouth_perpendicular_to_ground" in r
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assert r["mouth_perpendicular_to_ground"].weight == 2.0
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# no-touch : pénalité de contact forte + seuil bas
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assert "head_impact_penalty" in r
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assert r["head_impact_penalty"].weight == -2.0
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assert r["head_impact_penalty"].params["threshold"] == 1.0
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# pieds au sol ET à plat (anti-bascule sur la cheville)
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assert "feet_grounded" in r and r["feet_grounded"].weight == 3.0
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assert "feet_flat" in r and r["feet_flat"].weight == -2.0
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# retour debout + aide au relever (upright gaté sur la remontée)
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assert "ground_pick_return_pose_legs" in r
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assert "ground_pick_return_pose_neck" in r
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assert "return_upright" in r and r["return_upright"].weight == 4.0
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# plus d'approche par pose interpolée
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assert "phase_pose_track_head" not in r
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assert "phase_pose_track_legs" not in r
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def test_ground_pick_mouth_payload_wired():
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cfg = make_microduck_ground_pick_env_cfg()
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# hook d'application (poids 0) + event de tirage du payload
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assert "mouth_payload_force" in cfg.rewards
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assert cfg.rewards["mouth_payload_force"].weight == 0.0
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assert "sample_mouth_payload" in cfg.events
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assert cfg.events["sample_mouth_payload"].params["min_kg"] == 0.01
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assert cfg.events["sample_mouth_payload"].params["max_kg"] == 0.04
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def test_ground_pick_cfg_command_is_phase():
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cfg = make_microduck_ground_pick_env_cfg()
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cmd = cfg.commands["twist"]
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assert cmd.class_type is GroundPickPhaseCommand
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def test_ground_pick_rough_variant_builds():
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cfg = make_microduck_ground_pick_env_cfg(rough=True)
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assert "mouth_ground_proximity" in cfg.rewards
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def test_ground_pick_play_variant_builds():
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cfg = make_microduck_ground_pick_env_cfg(play=True)
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assert "mouth_ground_proximity" in cfg.rewards
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