def test_physicality():
"""
Test coordinate system [vertical is 0]
1) gravity acts in proper direction based on origin
2) torque actions behave as expected in that frame
"""
# Apply a bunch of non-torque actions, ensure that monotonically accelerate
LEFT_FORCE = 0
NO_FORCE = 1
RIGHT_FORCE = 2
domain = InfCartPoleSwingUp()
domain.force_noise_max = 0 # no stochasticity in applied FORCE
# Positive angle (right)
s = np.array([10.0 * np.pi / 180.0, 0.0]) # pendulum slightly right
domain.state = s.copy()
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(NO_FORCE)
assert np.all(domain.state > s) # angle and angular velocity increase
s = domain.state.copy()
# Negative angle (left)
s = np.array([-10.0 * np.pi / 180.0, 0.0]) # pendulum slightly right
domain.state = s.copy()
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(NO_FORCE)
assert np.all(domain.state < s) # angle and angular velocity increase
s = domain.state.copy()
def test_physicality():
"""
Test coordinate system [vertical is 0]
1) gravity acts in proper direction based on origin
2) torque actions behave as expected in that frame
"""
# Apply a bunch of non-torque actions, ensure that monotonically accelerate
LEFT_FORCE = 0
NO_FORCE = 1
RIGHT_FORCE = 2
domain = InfCartPoleSwingUp()
domain.force_noise_max = 0 # no stochasticity in applied FORCE
# Positive angle (right)
s = np.array([10.0 * np.pi/180.0, 0.0]) # pendulum slightly right
domain.state = s.copy()
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(NO_FORCE)
assert np.all(domain.state > s) # angle and angular velocity increase
s = domain.state.copy()
# Negative angle (left)
s = np.array([-10.0 * np.pi/180.0, 0.0]) # pendulum slightly right
domain.state = s.copy()
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(NO_FORCE)
assert np.all(domain.state < s) # angle and angular velocity increase
s = domain.state.copy()
def test_physicality_hanging():
"""
Test that energy does not spontaneously enter system
"""
# Apply a bunch of non-torque actions, ensure that monotonically accelerate
LEFT_FORCE = 0
NO_FORCE = 1
RIGHT_FORCE = 2
domain = InfCartPoleSwingUp()
domain.force_noise_max = 0 # no stochasticity in applied FORCE
# Positive angle (right)
s = np.array([179.6 * np.pi/180.0, 0.0]) # pendulum hanging down
domain.state = s
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(NO_FORCE)
assert np.abs(domain.state[0]) <=179.5 # angle does not increase
assert np.abs(domain.state[1]) <= 0.1 # angular rate does not increase
s = domain.state
def test_physicality_hanging():
"""
Test that energy does not spontaneously enter system
"""
# Apply a bunch of non-torque actions, ensure that monotonically accelerate
LEFT_FORCE = 0
NO_FORCE = 1
RIGHT_FORCE = 2
domain = InfCartPoleSwingUp()
domain.force_noise_max = 0 # no stochasticity in applied FORCE
# Positive angle (right)
s = np.array([179.6 * np.pi / 180.0, 0.0]) # pendulum hanging down
domain.state = s
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(NO_FORCE)
assert np.abs(domain.state[0]) <= 179.5 # angle does not increase
assert np.abs(domain.state[1]) <= 0.1 # angular rate does not increase
s = domain.state
def myfn(*args, **kwargs):
return _make_experiment(InfCartPoleSwingUp(), *args, **kwargs)
