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Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
46 lines
1.5 KiB
Python
46 lines
1.5 KiB
Python
"""Tests for offscreen renderer environment selection."""
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import numpy as np
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import pytest
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from mjlab.viewer.offscreen_renderer import OffscreenRenderer
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from mjlab.viewer.viewer_config import ViewerConfig
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def test_env_ids_clamps_when_fewer_envs_than_requested():
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# Default max_extra_envs=2 with a single env must not raise (csv_to_npz and
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# single-env video recording rely on this).
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cfg = ViewerConfig(max_extra_envs=2)
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ids = OffscreenRenderer._get_env_ids(cfg, np.zeros((1, 3)))
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assert ids == (0,)
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def test_env_ids_primary_is_env_idx_despite_identical_origins():
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# With identical origins, distance ties must not evict env_idx from the set.
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cfg = ViewerConfig(env_idx=3, max_extra_envs=2)
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ids = OffscreenRenderer._get_env_ids(cfg, np.zeros((8, 3)))
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assert ids[0] == 3
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assert len(ids) == 3
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assert len(set(ids)) == 3
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def test_env_ids_selects_nearest_neighbors():
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cfg = ViewerConfig(env_idx=0, max_extra_envs=2)
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origins = np.array(
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[[0.0, 0.0, 0.0], [10.0, 0.0, 0.0], [1.0, 0.0, 0.0], [2.0, 0.0, 0.0]]
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)
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ids = OffscreenRenderer._get_env_ids(cfg, origins)
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assert ids == (0, 2, 3)
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def test_env_ids_out_of_range_env_idx_is_clamped():
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cfg = ViewerConfig(env_idx=99, max_extra_envs=0)
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ids = OffscreenRenderer._get_env_ids(cfg, np.zeros((4, 3)))
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assert ids == (3,)
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def test_env_ids_negative_max_extra_envs_raises():
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cfg = ViewerConfig(max_extra_envs=-1)
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with pytest.raises(ValueError, match="max_extra_envs"):
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OffscreenRenderer._get_env_ids(cfg, np.zeros((4, 3)))
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