47372443ff
Upstream: https://github.com/pollen-robotics/microduck_rl Upstream-Commit: d424a0c899f6b33cbd3daeb279913134349c0b63 Upstream-Branch: develop
49 lines
2.2 KiB
Python
49 lines
2.2 KiB
Python
from mjlab_microduck.tasks.microduck_roller_crouch_env_cfg import (
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make_microduck_roller_crouch_env_cfg,
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)
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from mjlab_microduck.tasks import mdp as microduck_mdp
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def test_cfg_uses_phase_command():
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cfg = make_microduck_roller_crouch_env_cfg()
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cmd = cfg.commands["twist"]
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assert isinstance(cmd, microduck_mdp.GroundPickPhaseCommandCfg)
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# period must match --ground-pick-period at deploy
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# (0.5s down + 2s low + 0.5s up + 2s standing = 5s)
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assert cmd.period == 5.0
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# each episode starts standing (phase 0), matching the runtime trigger
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assert cmd.randomize_phase is False
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def test_cfg_has_crouch_and_forward_rewards():
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cfg = make_microduck_roller_crouch_env_cfg()
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# pose-based objective (standing<->crouch) + L1 bootstrap
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assert "crouch_glide_pose" in cfg.rewards
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assert "crouch_glide_pose_l1" in cfg.rewards
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assert "forward_speed" in cfg.rewards
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# léger penché avant pendant l'accroupi (cible positive = vers l'avant)
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assert "crouch_forward_lean" in cfg.rewards
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assert cfg.rewards["crouch_forward_lean"].params["target_pitch"] > 0.0
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# the crouch pose is carried by-name and includes the leg fold
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cp = cfg.rewards["crouch_glide_pose"].params["crouch_pose"]
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assert "left_knee" in cp and "right_knee" in cp
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# rewards de patinage actif retirées (pas de stride pendant le trick)
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for gone in ("braking", "skating_air_time", "single_support", "glide", "wheel_speed"):
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assert gone not in cfg.rewards
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def test_entry_velocity_applied_safely_via_reset_base():
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# Regression: entry momentum must be injected through reset_base's
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# velocity_range (reset_root_state_uniform sets it from the clean default
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# state), NOT via a mode="reset" push_by_setting_velocity event, which adds
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# to the current (possibly divergent) root velocity and blows the base
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# free-joint up to NaN. See the env cfg comment on ENTRY_VELOCITY_X.
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cfg = make_microduck_roller_crouch_env_cfg()
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# the buggy reset-push event must NOT exist
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assert "entry_velocity" not in cfg.events
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# forward entry velocity must be carried by reset_base, with a positive range
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vr = cfg.events["reset_base"].params.get("velocity_range")
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assert vr and "x" in vr
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lo, hi = vr["x"]
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assert lo > 0.0 and hi >= lo
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