Erik Frey
8f9c690c85
Co-authored-by: Baruch Tabanpour <btaba@google.com> PiperOrigin-RevId: 574327508 Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
43 lines
1.4 KiB
Python
43 lines
1.4 KiB
Python
# Copyright 2023 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Tests for io functions."""
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from absl.testing import absltest
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from absl.testing import parameterized
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import jax
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from mujoco import mjx
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from mujoco.mjx._src import test_util
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class IoTest(parameterized.TestCase):
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@parameterized.parameters(test_util.TEST_FILES)
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def test_make_data(self, fname):
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"""Test that data created by make_data matches data returned by step."""
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m = test_util.load_test_file(fname)
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mx = mjx.device_put(m)
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dx = mjx.make_data(mx)
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dx_step = mjx.step(mx, dx)
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_, dx_treedef = jax.tree_util.tree_flatten(dx)
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_, dx_step_treedef = jax.tree_util.tree_flatten(dx_step)
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self.assertEqual(dx_treedef, dx_step_treedef)
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if __name__ == '__main__':
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absltest.main()
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