test(simulate): evaluation

tests/test_evaluation.py

@@ -0,0 +1,77 @@
+import numpy as np
+
+from brittle_star_project.evaluation.checkpoint import metadata_to_configs, TrainingConfig
+from brittle_star_project.evaluation.rollout import _maybe_clip_action
+from brittle_star_project.environment.env_config import (
+    MorphologyConfig,
+    ArenaConfig,
+    EnvConfig,
+    ObservationBoundsConfig,
+)
+from brittle_star_project.environment.env_types import Task
+
+
+def test_metadata_to_configs():
+    """Test that a raw metadata dictionary correctly instantiates the typed configs."""
+    mock_metadata = {
+        "morphology": {
+            "segments_per_arm": [4, 0, 4, 0, 0],
+            "use_p_control": False,
+        },
+        "arena": {"sand_ground_color": False, "size": [15.0, 10.0]},
+        "environment": {
+            "task": "LIGHT_ESCAPE",
+            "simulation_time": 5000.0,
+        },
+        "obs_bounds": {"joint_velocity": [-10.0, 10.0]},
+    }
+
+    config = metadata_to_configs(mock_metadata)
+
+    assert isinstance(config, TrainingConfig)
+
+    # Check MorphologyConfig
+    assert isinstance(config.morphology, MorphologyConfig)
+    assert config.morphology.segments_per_arm == [4, 0, 4, 0, 0]
+    assert config.morphology.use_p_control is False
+    assert config.morphology.use_torque_control is False  # default
+
+    # Check ArenaConfig
+    assert isinstance(config.arena, ArenaConfig)
+    assert config.arena.sand_ground_color is False
+    assert config.arena.size == [15.0, 10.0]
+    assert config.arena.wall_height == 1.5  # default
+
+    # Check EnvConfig
+    assert isinstance(config.environment, EnvConfig)
+    assert config.environment.task == Task.LIGHT_ESCAPE
+    assert config.environment.simulation_time == 5000.0
+    assert config.environment.time_scale == 2  # default
+
+    # Check ObservationBoundsConfig
+    assert isinstance(config.obs_bounds, ObservationBoundsConfig)
+    assert config.obs_bounds.joint_velocity == [-10.0, 10.0]
+    assert config.obs_bounds.segment_contact == [0.0, 1.0]  # default
+
+
+def test_maybe_clip_action():
+    """Test action clipping against boundaries."""
+    # Test valid clipping
+    action = np.array([1.5, -2.5, 0.0])
+    low = np.array([-1.0, -1.0, -1.0])
+    high = np.array([1.0, 1.0, 1.0])
+
+    clipped = _maybe_clip_action(action, low, high)
+    np.testing.assert_array_equal(clipped, np.array([1.0, -1.0, 0.0]))
+
+    # Test skipping when bounds are None
+    unclipped_1 = _maybe_clip_action(action, None, high)
+    np.testing.assert_array_equal(unclipped_1, action)
+
+    unclipped_2 = _maybe_clip_action(action, low, None)
+    np.testing.assert_array_equal(unclipped_2, action)
+
+    # Test skipping on shape mismatch
+    wrong_low = np.array([-1.0, -1.0])  # Shape mismatch
+    unclipped_3 = _maybe_clip_action(action, wrong_low, high)
+    np.testing.assert_array_equal(unclipped_3, action)