47372443ff
Upstream: https://github.com/pollen-robotics/microduck_rl Upstream-Commit: d424a0c899f6b33cbd3daeb279913134349c0b63 Upstream-Branch: develop
43 lines
1.7 KiB
Python
43 lines
1.7 KiB
Python
from mjlab.tasks.velocity import mdp
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from mjlab_microduck.tasks.microduck_velocity_swizzle_env_cfg import (
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make_microduck_velocity_swizzle_env_cfg,
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)
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from mjlab_microduck.tasks.microduck_velocity_rollers_env_cfg import (
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make_microduck_velocity_rollers_env_cfg,
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)
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def test_swizzle_head_control_wired():
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cfg = make_microduck_velocity_swizzle_env_cfg()
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roller_cfg = make_microduck_velocity_rollers_env_cfg()
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# Head-pose command term exists.
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assert "head_pose" in cfg.commands
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# head_command obs is the REAL command (not zero-padded) on both groups.
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for group in ("actor", "critic"):
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term = cfg.observations[group].terms["head_command"]
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assert term.func is mdp.generated_commands
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assert term.params["command_name"] == "head_pose"
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# head_pose_tracking reward exists.
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assert "head_pose_tracking" in cfg.rewards
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# The two HOME-pullers that would fight the head command are handled:
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# - neck_joint_pos_l2 removed
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assert "neck_joint_pos_l2" not in cfg.rewards
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# - pose reward scoped to leg joints via a negative-lookahead regex that
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# excludes neck/head (and passive wheels)
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pose_joints = cfg.rewards["pose"].params["asset_cfg"].joint_names
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assert any(
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"(?!" in j and "neck" in j and "head" in j for j in pose_joints
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), f"pose reward not scoped away from neck/head: {pose_joints}"
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# Pose reward function unchanged (not swapped to a different function)
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assert cfg.rewards["pose"].func is roller_cfg.rewards["pose"].func, \
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"pose reward function was swapped (should only scope asset_cfg)"
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# Late head curricula exist.
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assert "head_pose_tracking_weight" in cfg.curriculum
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assert "head_pose_range" in cfg.curriculum
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