File size: 2,348 Bytes
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 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 | """Tests for sim data bridge."""
from dataclasses import dataclass
import pytest
import torch
import warp as wp
from conftest import get_test_device
from mjlab.sim.sim_data import TorchArray, WarpBridge
@dataclass
class MockData:
arr: wp.array
val: float = 1.0
@pytest.fixture
def device():
"""Test device fixture."""
return get_test_device()
@pytest.fixture
def mock_data(device):
with wp.ScopedDevice(device):
return MockData(arr=wp.array([[1.0, 2.0], [3.0, 4.0]], dtype=wp.float32))
def test_torch_array_shares_memory(device):
"""TorchArray modifications affect underlying warp array."""
with wp.ScopedDevice(device):
wp_arr = wp.array([1.0, 2.0], dtype=wp.float32)
torch_arr = TorchArray(wp_arr)
torch_arr[0] = 99.0
assert wp_arr.numpy()[0] == 99.0
def test_torch_array_ops_work(device):
"""TorchArray supports PyTorch operations."""
with wp.ScopedDevice(device):
wp_arr = wp.array([1.0, 2.0], dtype=wp.float32)
torch_arr = TorchArray(wp_arr)
assert torch.allclose(torch_arr * 2, torch.tensor([2.0, 4.0], device=device))
assert torch.sum(torch_arr).item() == 3.0 # type: ignore
def test_bridge_wraps_arrays(mock_data):
"""WarpBridge wraps warp arrays as TorchArray."""
bridge = WarpBridge(mock_data)
assert isinstance(bridge.arr, TorchArray)
assert bridge.val == 1.0 # Non-arrays pass through.
def test_bridge_preserves_memory_on_slice_assign(mock_data, device):
"""Slice assignment preserves memory addresses (CUDA graph safe)."""
bridge = WarpBridge(mock_data)
initial_ptr = bridge.arr._tensor.data_ptr()
bridge.arr[:] = torch.zeros((2, 2), device=device)
assert bridge.arr._tensor.data_ptr() == initial_ptr
assert torch.all(bridge.arr._tensor == 0)
def test_bridge_raises_on_setattr(mock_data, device):
"""Direct assignment raises AttributeError with helpful message."""
bridge = WarpBridge(mock_data)
with pytest.raises(AttributeError, match="Cannot set attribute 'arr' on WarpBridge"):
bridge.arr = torch.zeros((2, 2), device=device)
with pytest.raises(AttributeError, match="Use in-place operations instead"):
bridge.val = 42.0
def test_bridge_caches_wrappers(mock_data):
"""WarpBridge caches wrapper objects."""
bridge = WarpBridge(mock_data)
arr1 = bridge.arr
arr2 = bridge.arr
assert arr1 is arr2 # Same cached object.
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