32a241c28f
Some checks failed
nightly / Test against latest dependencies (py3.10) (push) Has been cancelled
nightly / Test against latest dependencies (py3.13) (push) Has been cancelled
tests / tests (3.13, locked) (push) Has been cancelled
tests / tests (3.13, unlocked) (push) Has been cancelled
tests / pyright (3.10) (push) Has been cancelled
tests / lint-format (push) Has been cancelled
tests / tests (3.10, locked) (push) Has been cancelled
tests / tests (3.11, locked) (push) Has been cancelled
tests / tests (3.12, locked) (push) Has been cancelled
tests / pyright (3.11) (push) Has been cancelled
tests / pyright (3.12) (push) Has been cancelled
tests / pyright (3.13) (push) Has been cancelled
tests / ty-check (3.10) (push) Has been cancelled
tests / ty-check (3.11) (push) Has been cancelled
tests / ty-check (3.12) (push) Has been cancelled
tests / ty-check (3.13) (push) Has been cancelled
tests / stubs (push) Has been cancelled
tests / smoke-test (push) Has been cancelled
Docker / check_paths (push) Has been cancelled
docs / build (push) Has been cancelled
Docker / build (push) Has been cancelled
Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
101 lines
2.9 KiB
Python
101 lines
2.9 KiB
Python
"""Tests for sim data bridge."""
|
|
|
|
from dataclasses import dataclass
|
|
|
|
import pytest
|
|
import torch
|
|
import warp as wp
|
|
from conftest import get_test_device
|
|
|
|
from mjlab.sim.sim_data import TorchArray, WarpBridge
|
|
|
|
|
|
@dataclass
|
|
class MockData:
|
|
arr: wp.array
|
|
val: float = 1.0
|
|
|
|
|
|
@pytest.fixture
|
|
def device():
|
|
"""Test device fixture."""
|
|
return get_test_device()
|
|
|
|
|
|
@pytest.fixture
|
|
def mock_data(device):
|
|
with wp.ScopedDevice(device):
|
|
return MockData(arr=wp.array([[1.0, 2.0], [3.0, 4.0]], dtype=wp.float32))
|
|
|
|
|
|
def test_torch_array_shares_memory(device):
|
|
"""TorchArray modifications affect underlying warp array."""
|
|
with wp.ScopedDevice(device):
|
|
wp_arr = wp.array([1.0, 2.0], dtype=wp.float32)
|
|
torch_arr = TorchArray(wp_arr)
|
|
torch_arr[0] = 99.0
|
|
assert wp_arr.numpy()[0] == 99.0
|
|
|
|
|
|
def test_torch_array_ops_work(device):
|
|
"""TorchArray supports PyTorch operations."""
|
|
with wp.ScopedDevice(device):
|
|
wp_arr = wp.array([1.0, 2.0], dtype=wp.float32)
|
|
torch_arr = TorchArray(wp_arr)
|
|
assert torch.allclose(torch_arr * 2, torch.tensor([2.0, 4.0], device=device))
|
|
assert torch.sum(torch_arr).item() == 3.0 # type: ignore
|
|
|
|
|
|
def test_torch_array_expands_batched_singleton_world_dim(device):
|
|
"""Size-1 world dim expands to nworld when mjwarp marks the array batched."""
|
|
with wp.ScopedDevice(device):
|
|
wp_arr = wp.array([[1.0, 2.0]], dtype=wp.float32)
|
|
setattr(wp_arr, "_is_batched", True) # noqa: B010
|
|
torch_arr = TorchArray(wp_arr, nworld=4)
|
|
assert torch_arr.shape == (4, 2)
|
|
|
|
|
|
def test_torch_array_keeps_unbatched_singleton_dim(device):
|
|
"""A real size-1 leading dim without the batched marker is not expanded."""
|
|
with wp.ScopedDevice(device):
|
|
wp_arr = wp.array([[1.0, 2.0]], dtype=wp.float32)
|
|
torch_arr = TorchArray(wp_arr, nworld=4)
|
|
assert torch_arr.shape == (1, 2)
|
|
|
|
|
|
def test_bridge_wraps_arrays(mock_data):
|
|
"""WarpBridge wraps warp arrays as TorchArray."""
|
|
bridge = WarpBridge(mock_data)
|
|
assert isinstance(bridge.arr, TorchArray)
|
|
assert bridge.val == 1.0 # Non-arrays pass through.
|
|
|
|
|
|
def test_bridge_preserves_memory_on_slice_assign(mock_data, device):
|
|
"""Slice assignment preserves memory addresses (CUDA graph safe)."""
|
|
bridge = WarpBridge(mock_data)
|
|
initial_ptr = bridge.arr._tensor.data_ptr()
|
|
|
|
bridge.arr[:] = torch.zeros((2, 2), device=device)
|
|
|
|
assert bridge.arr._tensor.data_ptr() == initial_ptr
|
|
assert torch.all(bridge.arr._tensor == 0)
|
|
|
|
|
|
def test_bridge_raises_on_setattr(mock_data, device):
|
|
"""Direct assignment raises AttributeError with helpful message."""
|
|
bridge = WarpBridge(mock_data)
|
|
|
|
with pytest.raises(AttributeError, match="Cannot set attribute 'arr' on WarpBridge"):
|
|
bridge.arr = torch.zeros((2, 2), device=device)
|
|
|
|
with pytest.raises(AttributeError, match="Use in-place operations instead"):
|
|
bridge.val = 42.0
|
|
|
|
|
|
def test_bridge_caches_wrappers(mock_data):
|
|
"""WarpBridge caches wrapper objects."""
|
|
bridge = WarpBridge(mock_data)
|
|
arr1 = bridge.arr
|
|
arr2 = bridge.arr
|
|
assert arr1 is arr2 # Same cached object.
|