30 lines
827 B
Python
30 lines
827 B
Python
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"""Online robot preprocessing checks shared by Turtle serving."""
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from types import SimpleNamespace
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import numpy as np
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from wall_x._vendor.harrix.serving._wallx_infer.robot import Robot
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def test_dof_mask_disables_virtual_action_padding():
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wrapper = SimpleNamespace(
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config=SimpleNamespace(
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action_horizon=10,
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train_config={
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"dof_config": {
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"master_right_ee_cartesian_pos": 3,
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"master_right_ee_rotation": 3,
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"master_right_gripper": 1,
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"action_padding": 19,
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}
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},
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)
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)
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mask = Robot._get_dof_mask(wrapper)
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assert mask.shape == (1, 10, 26)
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np.testing.assert_array_equal(mask[:, :, :7], 1)
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np.testing.assert_array_equal(mask[:, :, 7:], 0)
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