Baruch Tabanpour
62a32386d6
PiperOrigin-RevId: 872533248 Change-Id: I828303866c31d33d2367dd9fba4eb42028c67540
118 lines
3.7 KiB
Python
118 lines
3.7 KiB
Python
# Copyright 2026 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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import os
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from unittest import mock
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from absl.testing import absltest
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import jax
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import jax.numpy as jnp
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from mujoco.mjx._src import io
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from mujoco.mjx._src import render_util
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import mujoco.mjx.warp as mjxw
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import numpy as np
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_FORCE_TEST = os.environ.get('MJX_WARP_FORCE_TEST', '0') == '1'
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def _fake_render_context(ncam, width, height):
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"""Fake RenderContext for testing."""
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rc = mock.MagicMock()
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rgb_adr = np.arange(ncam, dtype=np.int32) * width * height
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depth_adr = np.arange(ncam, dtype=np.int32) * width * height
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cam_res = np.tile([width, height], (ncam, 1)).astype(np.int32)
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rc.rgb_adr.numpy.return_value = rgb_adr
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rc.depth_adr.numpy.return_value = depth_adr
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rc.cam_res.numpy.return_value = cam_res
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return rc
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class RenderUtilTest(absltest.TestCase):
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def setUp(self):
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super().setUp()
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if not _FORCE_TEST:
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if not mjxw.WARP_INSTALLED:
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self.skipTest('Warp not installed.')
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if not io.has_cuda_gpu_device():
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self.skipTest('No CUDA GPU device available.')
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def test_get_rgb(self):
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width, height = 4, 4
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warp_rc = _fake_render_context(1, width, height)
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rc = mock.MagicMock(key=0)
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rgb_data = jnp.zeros((width * height,), dtype=jnp.uint32)
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with mock.patch.dict(
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'mujoco.mjx.warp.render._MJX_RENDER_CONTEXT_BUFFERS',
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{(0, None): warp_rc},
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):
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rgb = jax.jit(render_util.get_rgb, static_argnums=(0, 1))(rc, 0, rgb_data)
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self.assertEqual(rgb.shape, (height, width, 3))
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def test_get_rgb_vmap(self):
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nworld, width, height = 3, 4, 4
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warp_rc = _fake_render_context(1, width, height)
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rc = mock.MagicMock(key=0)
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rgb_data = jnp.zeros((nworld, width * height), dtype=jnp.uint32)
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with mock.patch.dict(
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'mujoco.mjx.warp.render._MJX_RENDER_CONTEXT_BUFFERS',
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{(0, None): warp_rc},
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):
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rgb = jax.jit(
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jax.vmap(render_util.get_rgb, in_axes=(None, None, 0)),
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static_argnums=(0, 1),
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)(rc, 0, rgb_data)
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self.assertEqual(rgb.shape, (nworld, height, width, 3))
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def test_get_depth(self):
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width, height = 4, 4
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warp_rc = _fake_render_context(1, width, height)
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rc = mock.MagicMock(key=0)
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depth_data = jnp.zeros((width * height,), dtype=jnp.float32)
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with mock.patch.dict(
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'mujoco.mjx.warp.render._MJX_RENDER_CONTEXT_BUFFERS',
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{(0, None): warp_rc},
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):
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depth = jax.jit(render_util.get_depth, static_argnums=(0, 1, 3))(
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rc, 0, depth_data, 5.0
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)
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self.assertEqual(depth.shape, (height, width))
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def test_get_depth_vmap(self):
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nworld, width, height = 3, 4, 4
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warp_rc = _fake_render_context(1, width, height)
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rc = mock.MagicMock(key=0)
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depth_data = jnp.zeros((nworld, width * height), dtype=jnp.float32)
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with mock.patch.dict(
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'mujoco.mjx.warp.render._MJX_RENDER_CONTEXT_BUFFERS',
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{(0, None): warp_rc},
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):
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depth = jax.jit(
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jax.vmap(render_util.get_depth, in_axes=(None, None, 0, None)),
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static_argnums=(0, 1, 3),
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)(rc, 0, depth_data, 5.0)
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self.assertEqual(depth.shape, (nworld, height, width))
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if __name__ == '__main__':
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absltest.main()
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