add forward tests #718
add forward tests #718
Conversation
| d_arr = d_arr[: d.nefc.numpy()[0]] | ||
| _assert_eq(d_arr, getattr(mjd, arr), arr) | ||
|
|
||
| @absltest.skipIf(not wp.get_device().is_cuda, "Skipping test that requires GPU.") |
There was a problem hiding this comment.
LOVE seeing these tests, thank you for doing this.
Let's think of using ScopedCapture inside a test as a last resort... I'm definitely guilty of using it, but only where my imagination comes up short on how to test expected behavior with only a few steps. It would be nice to keep the property that our test coverage on CPU only is still pretty good.
Some of these unit tests only step 10 times or so - you can check but I think for 10 steps, the test time is not too bad if we step via CPU.
For the tests that are stepping hundreds of times, can you take a look and decide if there's anyway to reduce the number of steps and still have a meaningful test?
If after reviewing these two things, we still have some tests with the absltest.skipIf at the top, that's OK.
thowell
force-pushed
the
add_forward_tests
branch
from
d1b74f6 to
ba47330
Compare
2 participants
adds tests from mujoco's engine_forward_tests.cc https://github.com/google-deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc
fixes
_next_activationlaunch in_rk_perturb_state