47372443ff
Upstream: https://github.com/pollen-robotics/microduck_rl Upstream-Commit: d424a0c899f6b33cbd3daeb279913134349c0b63 Upstream-Branch: develop
40 lines
1.3 KiB
Python
40 lines
1.3 KiB
Python
import torch
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from mjlab_microduck.tasks.mdp import slope_move_masks
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def test_move_up_when_reached_bottom():
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# distance > size_x*0.4 (=3.2) → monte en difficulté
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dist = torch.tensor([5.0, 4.1])
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up, down = slope_move_masks(dist, size_x=8.0)
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assert bool(up[0]) and bool(up[1])
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assert not bool(down[0]) and not bool(down[1])
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def test_move_down_when_stuck_early():
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# distance < size_x*0.2 (=1.6) → descend en difficulté
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dist = torch.tensor([0.5, 1.0])
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up, down = slope_move_masks(dist, size_x=8.0)
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assert not bool(up[0]) and not bool(up[1])
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assert bool(down[0]) and bool(down[1])
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def test_stay_in_middle_band():
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# entre 1.6 et 3.2 → ni haut ni bas
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dist = torch.tensor([2.5])
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up, down = slope_move_masks(dist, size_x=8.0)
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assert not bool(up[0]) and not bool(down[0])
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def test_move_up_boundary_at_04():
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# promotion dès qu'on a descendu > 0.4*size_x (le robot a parcouru une bonne
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# partie de la rampe avant d'atteindre le plat de sortie).
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dist = torch.tensor([3.3])
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up, down = slope_move_masks(dist, size_x=8.0)
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assert bool(up[0])
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assert not bool(down[0])
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# 3.0 reste dans la bande médiane (3.0 < 3.2 et 3.0 > 1.6)
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dist_mid = torch.tensor([3.0])
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up_mid, down_mid = slope_move_masks(dist_mid, size_x=8.0)
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assert not bool(up_mid[0]) and not bool(down_mid[0])
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