34 lines
1.2 KiB
Python
34 lines
1.2 KiB
Python
import torch
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import unittest
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from rsl_rl.utils.recurrency import trajectories_to_transitions, transitions_to_trajectories
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class TrajectoryConversionTest(unittest.TestCase):
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def test_basic_conversion(self):
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input = torch.rand(128, 24)
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dones = (torch.rand(128, 24) > 0.8).float()
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trajectories, data = transitions_to_trajectories(input, dones)
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transitions = trajectories_to_transitions(trajectories, data)
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self.assertTrue(torch.allclose(input, transitions))
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def test_2d_observations(self):
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input = torch.rand(128, 24, 32)
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dones = (torch.rand(128, 24) > 0.8).float()
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trajectories, data = transitions_to_trajectories(input, dones)
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transitions = trajectories_to_transitions(trajectories, data)
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self.assertTrue(torch.allclose(input, transitions))
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def test_batch_first(self):
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input = torch.rand(128, 24, 32)
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dones = (torch.rand(128, 24) > 0.8).float()
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trajectories, data = transitions_to_trajectories(input, dones, batch_first=True)
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transitions = trajectories_to_transitions(trajectories, data)
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self.assertTrue(torch.allclose(input, transitions))
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