27 lines
830 B
Python
27 lines
830 B
Python
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"""Tests for mjlab.utils.lab_api.math module."""
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import pytest
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import torch
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from conftest import get_test_device
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from mjlab.utils.lab_api.math import apply_delta_pose
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@pytest.fixture
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def device():
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return get_test_device()
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def test_apply_delta_pose_zero_rotation_is_finite_and_identity(device):
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"""Zero rotation delta should return finite values and preserve input pose."""
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source_pos = torch.zeros(2, 3, device=device)
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source_rot = torch.tensor([[1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]], device=device)
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delta_pose = torch.zeros(2, 6, device=device)
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target_pos, target_rot = apply_delta_pose(source_pos, source_rot, delta_pose)
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assert torch.isfinite(target_pos).all()
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assert torch.isfinite(target_rot).all()
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assert torch.allclose(target_pos, source_pos)
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assert torch.allclose(target_rot, source_rot)
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