def test_physicality():
"""
Test coordinate system [vertical up is 0]
1) gravity acts in proper direction based on origin
2) force actions behave as expected in that frame
"""
# Apply a bunch of non-force actions, ensure that monotonically accelerate
LEFT_FORCE = 0
NO_FORCE = 1
RIGHT_FORCE = 2
domain = FiniteCartPoleBalanceModern()
domain.force_noise_max = 0 # no stochasticity in applied force
domain.int_type = 'rk4'
# Slightly positive angle, just right of vertical up
s = np.array([10.0 * np.pi/180.0, 0.0, 0.0, 0.0]) # pendulum slightly right
domain.state = s
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(NO_FORCE)
assert np.all(domain.state[0:2] > s[0:2]) # angle and angular velocity increase
# no energy should enter or leave system under no force action
assert np.abs(_cartPoleEnergy(domain, s) - _cartPoleEnergy(domain, domain.state)) < 0.01
s = domain.state
# Negative angle (left)
s = np.array([-10.0 * np.pi/180.0, 0.0, 0.0, 0.0]) # pendulum slightly right
domain.state = s
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(NO_FORCE)
assert np.all(domain.state[0:2] < s[0:2]) # angle and angular velocity increase
# no energy should enter or leave system under no force action
assert np.abs(_cartPoleEnergy(domain, s) - _cartPoleEnergy(domain, domain.state)) < 0.01
s = domain.state
# Start vertical, ensure that force increases angular velocity in direction
# Negative force on cart, yielding positive rotation
s = np.array([0.0, 0.0, 0.0, 0.0])
domain.state = s
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(LEFT_FORCE)
assert np.all(domain.state[0:2] > s[0:2]) # angle and angular velocity increase
s = domain.state
# Positive force on cart, yielding negative rotation
s = np.array([0.0, 0.0, 0.0, 0.0])
domain.state = s
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(RIGHT_FORCE)
assert np.all(domain.state[0:2] < s[0:2]) # angle and angular velocity increase
s = domain.state
def test_physicality_hanging():
"""
Test that energy does not spontaneously enter system
"""
# Apply a bunch of non-force actions, ensure that monotonically accelerate
# LEFT_FORCE = 0, RIGHT_FORCE = 1
LEFT_FORCE = 0
NO_FORCE = 1
RIGHT_FORCE = 2
domain = FiniteCartPoleBalanceModern()
domain.force_noise_max = 0 # no stochasticity in applied force
domain.ANGLE_LIMITS = [-np.pi, np.pi] # We actually want to test hanging
# Positive angle (right)
s = np.array([179.6 * np.pi / 180.0, 0.0, -2.0,
0.0]) # pendulum hanging down
domain.state = s.copy()
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
# no energy should enter or leave system under no force action
assert np.abs(
_cartPoleEnergy(domain, s) -
_cartPoleEnergy(domain, domain.state)) < 0.01
s = domain.state
# Ensure that running out of x bounds causes experiment to terminate
assert domain.isTerminal(s=np.array([0.0, 0.0, 2.5, 0.0]))
assert domain.isTerminal(s=np.array([0.0, 0.0, -2.5, 0.0]))
def test_physicality_hanging():
"""
Test that energy does not spontaneously enter system
"""
# Apply a bunch of non-force actions, ensure that monotonically accelerate
# LEFT_FORCE = 0, RIGHT_FORCE = 1
LEFT_FORCE = 0
NO_FORCE = 1
RIGHT_FORCE = 2
domain = FiniteCartPoleBalanceModern()
domain.force_noise_max = 0 # no stochasticity in applied force
domain.ANGLE_LIMITS = [-np.pi, np.pi] # We actually want to test hanging
# Positive angle (right)
s = np.array([179.6 * np.pi/180.0, 0.0, -2.0, 0.0]) # pendulum hanging down
domain.state = s.copy()
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
# no energy should enter or leave system under no force action
assert np.abs(_cartPoleEnergy(domain, s) - _cartPoleEnergy(domain, domain.state)) < 0.01
s = domain.state
# Ensure that running out of x bounds causes experiment to terminate
assert domain.isTerminal(s=np.array([0.0, 0.0, 2.5, 0.0]))
assert domain.isTerminal(s=np.array([0.0, 0.0, -2.5, 0.0]))
def test_physicality():
"""
Test coordinate system [vertical up is 0]
1) gravity acts in proper direction based on origin
2) force actions behave as expected in that frame
"""
# Apply a bunch of non-force actions, ensure that monotonically accelerate
LEFT_FORCE = 0
NO_FORCE = 1
RIGHT_FORCE = 2
domain = FiniteCartPoleBalanceModern()
domain.force_noise_max = 0 # no stochasticity in applied force
domain.int_type = 'rk4'
# Slightly positive angle, just right of vertical up
s = np.array([10.0 * np.pi / 180.0, 0.0, 0.0,
0.0]) # pendulum slightly right
domain.state = s
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(NO_FORCE)
assert np.all(
domain.state[0:2] > s[0:2]) # angle and angular velocity increase
# no energy should enter or leave system under no force action
assert np.abs(
_cartPoleEnergy(domain, s) -
_cartPoleEnergy(domain, domain.state)) < 0.01
s = domain.state
# Negative angle (left)
s = np.array([-10.0 * np.pi / 180.0, 0.0, 0.0,
0.0]) # pendulum slightly right
domain.state = s
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(NO_FORCE)
assert np.all(
domain.state[0:2] < s[0:2]) # angle and angular velocity increase
# no energy should enter or leave system under no force action
assert np.abs(
_cartPoleEnergy(domain, s) -
_cartPoleEnergy(domain, domain.state)) < 0.01
s = domain.state
# Start vertical, ensure that force increases angular velocity in direction
# Negative force on cart, yielding positive rotation
s = np.array([0.0, 0.0, 0.0, 0.0])
domain.state = s
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(LEFT_FORCE)
assert np.all(
domain.state[0:2] > s[0:2]) # angle and angular velocity increase
s = domain.state
# Positive force on cart, yielding negative rotation
s = np.array([0.0, 0.0, 0.0, 0.0])
domain.state = s
for i in np.arange(5): # do for 5 steps and ensure works
domain.step(RIGHT_FORCE)
assert np.all(
domain.state[0:2] < s[0:2]) # angle and angular velocity increase
s = domain.state