| """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 | |
| 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) | |