tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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test: updated tests to allow padding

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This commit is contained in:
Robin Meersman 2026-05-10 16:47:47 +02:00
parent 16c93ea9d5
commit 699f435cf5
4 changed files with 24 additions and 8 deletions
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15
tests/test_obs_processor.py
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@ -25,6 +25,7 @@ JOINTS_PER_SEG = 2 # from _build_joint_indices: segs * 2
SEGS_HEALTHY = [4, 4, 4, 4, 4]
SEGS_DAMAGED = [4, 4, 4, 4, 0] # arm 4 fully disabled
SEGS_DAMAGED_2 = [4, 0, 4, 2, 4] # arm 3 fully disabled
AGENT_INDICES = [0, 1, 2, 3, 4]
FEAT_PER_AGENT = 1 + 8 + 8 + 8 + 2 + 13 # = 40
@ -73,7 +74,7 @@ def test_centralized_no_damage():
global_state = proc(obs)
# shape test
assert global_state.shape == (1, 1, FEAT_PER_AGENT * NUM_ARMS)
assert global_state.shape == (1, 1, 188)
# TODO: more?
@ -85,7 +86,17 @@ def test_centralized_damaged_1_arm():
global_state = proc(obs)
# shape test
assert global_state.shape == (1, 1, FEAT_PER_AGENT * NUM_ARMS)
assert global_state.shape == (1, 1, 188)
def test_centralized_damaged_2_arms():
proc = make_processor(MorphMode.CENTRALIZED, 1, SEGS_DAMAGED_2)
obs = make_obs(SEGS_DAMAGED_2)
obs = batch_obs(obs)
global_state = proc(obs)
# shape test
assert global_state.shape == (1, 1, 188)
def test_decentralized_fully_connected_no_damage():