
    ni                         S r SSKJr  SSKJr  SSKJr  SSKJs  Jr  SSK	J
r
   " S S\R                  R                  5      r\S	:X  a  \R                  R                  5         gg)
zTests for the training loop.    )absolute_import)division)print_functionN)toolsc                   2    \ rS rSrS rS rS rS rS rSr	g)	LoopTest   c           	      j   [         R                  " SS[         R                  SS9n[        R                  " S U5      nUR                  SSSSSS	S
9  U R                  5        nUR                  [         R                  " 5       5        UR                  US SS9n[        U5        U R                  S	UR                  U5      5        [        U5        U R                  SUR                  U5      5        [        U5        U R                  SUR                  U5      5        S S S 5        g ! , (       d  f       g = f)Nr   Fstepdtypenamephase_1T       donescoresummarystepsreport_every	   savermax_step   )tfVariableint32r   Loop	add_phasetest_sessionrunglobal_variables_initializernextassertEqual)selfr   loopsessscoress        g/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/agents/tools/loop_test.pytest_report_every_stepLoopTest.test_report_every_step   s    ;;q%rxxf=D::dD!DNN94q"ATUNV 
			
hhr..01xxD1x5f
6l
q$((4.)
6l
q$((4.)
6l
q$((4.) 
		s   !B:D$$
D2c                    [         R                  " [         R                  / 5      n[        R                  " S 5      nUR                  SSUSSSS S US0S9	  UR                  SSUSSSS S US0S9	  UR                  S	SUSSSS S US0S9	  U R                  5        nUR                  [         R                  " 5       5        [        UR                  US S
S95      nS S S 5        U R                  / SQW5        g ! , (       d  f       N#= f)Nr   Tr   r   )r   r   r   r   r   	log_everycheckpoint_everyfeedphase_2r      phase_3   r   )r   r4   r4   r4   r   r   r   r4   r4   r4   r   r   r   r4   r4   )r   placeholderfloat32r   r!   r"   r#   r$   r%   listassertAllEqual)r(   r   r)   r*   r+   s        r,   test_phases_feedLoopTest.test_phases_feed+   s   NN2::r*E::dDNN9 !!$(
  $ 	NN9 !!$(
  $ 	NN9 !!$(
  $ 
			
hhr..01DHHTH;<f 
 	EvN 
	s   ?C33
Dc           	      x   [         R                  " S 5      nUR                  SSSSSSS9  UR                  SSSSSSS9  U R                  5        nUR	                  [
        R                  " 5       5        [        UR	                  US S	S
95      nS S S 5        U R                  / SQW5        g ! , (       d  f       N#= f)Nr   Tr   r   r4   r   r3         r   )r   r4   r   r4   r   )	r   r!   r"   r#   r$   r   r%   r9   r:   )r(   r)   r*   r+   s       r,   test_average_score_over_phases'LoopTest.test_average_score_over_phasesN   s    ::dDNN94q"ATUNVNN94q"ATUNV 
			
hhr..01DHHTH;<f 
 	0 
	s   ?B++
B9c           	         [         R                  " SS[         R                  SS9n[         R                  " US-   S-  S5      n[         R                  " U[         R
                  5      n[        R                  " S U5      nUR                  SX#SSS	S
9  U R                  5        nUR                  [         R                  " 5       5        [        UR                  US SS95      nS S S 5        U R                  / SQW5        g ! , (       d  f       N#= f)Nr   Fr   r   r   r4   r   r   r   r   r   r   r   r   )r         )r   r   r    equalcastr8   r   r!   r"   r#   r$   r%   r9   r:   r(   r   r   r   r)   r*   r+   s          r,   test_not_doneLoopTest.test_not_doneZ   s    ;;q%rxxf=D88TAXNA&DGGD"**%E::dD!DNN9d2QQNO 
			
hhr..01DHHTH:;f 
 		6* 
	s   "?C>>
Dc           	      j   [         R                  " SS[         R                  SS9n[         R                  " US-  US-  /S5      n[         R                  " XS-  /[         R
                  5      n[        R                  " S U5      nUR                  SX#S	S
SS9  U R                  5        nUR                  [         R                  " 5       5        [        UR                  US SS95      nU R                  SUR                  U5      5        S S S 5        U R                  S/W5        g ! , (       d  f       N"= f)Nr   Fr   r   r   rD   r4   r   r   r      rC   r   g      @)r   r   r    rF   rG   r8   r   r!   r"   r#   r$   r%   r9   r'   r:   rH   s          r,   test_not_done_batchLoopTest.test_not_done_batchh   s    ;;q%rxxf=D88TAXtax(!,DGGT7ORZZ0E::dD!DNN9d2QQNO 
			
hhr..01DHHTH:;f
q$((4.) 
 	-.7	 
	s   (A D$$
D2 N)
__name__
__module____qualname____firstlineno__r-   r;   r@   rI   rM   __static_attributes__rO       r,   r   r      s    * !OF
1+8rU   r   __main__)__doc__
__future__r   r   r   tf.compat.v1compatv1r   .google3.robotics.reinforcement_learning.agentsr   testTestCaser   rP   mainrO   rU   r,   <module>r`      sQ    # &  %   @^8rww ^8B z'',,. rU   