Import upstream snapshot c19f713c415a699a79d71cd96aa13c3104a05047

Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
2026-08-28 15:42:17 +08:00
commit 32a241c28f
513 changed files with 120771 additions and 0 deletions
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+"""Smoke test for mjlab package."""
+
+import io
+import sys
+import warnings
+from contextlib import redirect_stderr, redirect_stdout
+
+try:
+  import pytest
+except ModuleNotFoundError:
+  pytest = None  # type: ignore[assignment]
+
+
+@pytest.mark.slow if pytest else lambda f: f
+def test_basic_functionality() -> None:
+  """Test that mjlab can create and close an environment."""
+  from mjlab.envs.manager_based_rl_env import ManagerBasedRlEnv
+  from mjlab.tasks.velocity.config.go1.env_cfgs import unitree_go1_flat_env_cfg
+
+  # Suppress env spam.
+  with warnings.catch_warnings():
+    warnings.simplefilter("ignore")
+    with redirect_stdout(io.StringIO()), redirect_stderr(io.StringIO()):
+      env = ManagerBasedRlEnv(unitree_go1_flat_env_cfg(), device="cpu")
+      assert env.sim.data.time == 0.0
+      env.close()
+
+
+if __name__ == "__main__":
+  try:
+    test_basic_functionality()
+    print("✓ Smoke test passed!")
+    sys.exit(0)
+  except Exception as e:
+    print(f"✗ Smoke test failed: {e}")
+    sys.exit(1)