tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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fix: tests still assumed badly broadcasted segment_contacts

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Tibo De Peuter 2026-05-12 21:30:45 +02:00
parent da06fa2f2e
commit e21e5b1c3a
Signed by: tdpeuter
SSH key fingerprint: SHA256:u/h/LVoqKF1Iz02uOyxe6hcjmoZASCGV2HM0TG9ZMoU
2 changed files with 29 additions and 22 deletions
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10
tests/test_network_shapes.py
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@ -36,12 +36,14 @@ def test_centralized_forward_pass_with_padding():
)
global_state = obs_processor(amputated_obs)
# 40 + 40 + 20 + padding = 145 dimensions
assert global_state.shape == (batch_size, 1, 145), (
f"Expected global state shape (2, 1, 145), got {global_state.shape}"
# joint_position: 5 arms × 8 joints (padded) = 40
# joint_velocity: 5 arms × 8 joints (padded) = 40
# segment_contact: 5 arms × 4 segs (padded) = 20
# Total = 100 (no disk or direction keys supplied)
assert global_state.shape == (batch_size, 1, 100), (
f"Expected global state shape (2, 1, 100), got {global_state.shape}"
)
# 4. Initialize dummy networks (40 actuators for the max morphology output)
actor = Actor(action_dim=40)
critic = OneDenseLayerMLP() # Acts as the centralized critic