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ee93ecd | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 | """Tests for mjlab.utils.lab_api.math module."""
import pytest
import torch
from conftest import get_test_device
from mjlab.utils.lab_api.math import apply_delta_pose
@pytest.fixture
def device():
return get_test_device()
def test_apply_delta_pose_zero_rotation_is_finite_and_identity(device):
"""Zero rotation delta should return finite values and preserve input pose."""
source_pos = torch.zeros(2, 3, device=device)
source_rot = torch.tensor([[1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]], device=device)
delta_pose = torch.zeros(2, 6, device=device)
target_pos, target_rot = apply_delta_pose(source_pos, source_rot, delta_pose)
assert torch.isfinite(target_pos).all()
assert torch.isfinite(target_rot).all()
assert torch.allclose(target_pos, source_pos)
assert torch.allclose(target_rot, source_rot)
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