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Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
37 lines
1012 B
Python
37 lines
1012 B
Python
"""Smoke test for mjlab package."""
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import io
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import sys
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import warnings
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from contextlib import redirect_stderr, redirect_stdout
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try:
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import pytest
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except ModuleNotFoundError:
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pytest = None # type: ignore[assignment]
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@pytest.mark.slow if pytest else lambda f: f
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def test_basic_functionality() -> None:
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"""Test that mjlab can create and close an environment."""
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from mjlab.envs.manager_based_rl_env import ManagerBasedRlEnv
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from mjlab.tasks.velocity.config.go1.env_cfgs import unitree_go1_flat_env_cfg
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# Suppress env spam.
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with warnings.catch_warnings():
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warnings.simplefilter("ignore")
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with redirect_stdout(io.StringIO()), redirect_stderr(io.StringIO()):
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env = ManagerBasedRlEnv(unitree_go1_flat_env_cfg(), device="cpu")
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assert env.sim.data.time == 0.0
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env.close()
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if __name__ == "__main__":
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try:
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test_basic_functionality()
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print("✓ Smoke test passed!")
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sys.exit(0)
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except Exception as e:
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print(f"✗ Smoke test failed: {e}")
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sys.exit(1)
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