Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0

introspect/enums_test.py

@@ -0,0 +1,66 @@
+# Copyright 2022 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Tests for enums.py."""
+
+from absl.testing import absltest
+
+from google3.third_party.mujoco.introspect import enums
+
+
+class EnumsTest(absltest.TestCase):
+
+  # "simple" enum that just starts at zero and increment by one.
+  def test_mjtJoint(self):  # pylint: disable=invalid-name
+    enum_decl = enums.ENUMS['mjtJoint']
+    self.assertEqual(enum_decl.name, 'mjtJoint')
+    self.assertEqual(enum_decl.declname, 'enum mjtJoint_')
+    self.assertEqual(
+        tuple(enum_decl.values.items()), (('mjJNT_FREE', 0),
+                                          ('mjJNT_BALL', 1),
+                                          ('mjJNT_SLIDE', 2),
+                                          ('mjJNT_HINGE', 3)))
+
+  # all values explicitly specified
+  def test_mjtEnableBit(self):  # pylint: disable=invalid-name
+    enum_decl = enums.ENUMS['mjtEnableBit']
+    self.assertEqual(enum_decl.name, 'mjtEnableBit')
+    self.assertEqual(enum_decl.declname, 'enum mjtEnableBit_')
+    self.assertEqual(
+        tuple(enum_decl.values.items()), (('mjENBL_OVERRIDE', 1<<0),
+                                          ('mjENBL_ENERGY', 1<<1),
+                                          ('mjENBL_FWDINV', 1<<2),
+                                          ('mjENBL_SENSORNOISE', 1<<3),
+                                          ('mjNENABLE', 4)))
+
+  # values mostly increment by one with occasional overrides
+  def test_mjtGeom(self):  # pylint: disable=invalid-name
+    enum_decl = enums.ENUMS['mjtGeom']
+    self.assertEqual(enum_decl.name, 'mjtGeom')
+    self.assertEqual(enum_decl.declname, 'enum mjtGeom_')
+
+    self.assertEqual(enum_decl.values['mjGEOM_PLANE'], 0)
+    self.assertEqual(enum_decl.values['mjGEOM_HFIELD'], 1)
+    self.assertEqual(enum_decl.values['mjGEOM_SPHERE'], 2)
+    # Skip a few...
+
+    self.assertEqual(enum_decl.values['mjGEOM_ARROW'], 100)
+    self.assertEqual(enum_decl.values['mjGEOM_ARROW1'], 101)
+    self.assertEqual(enum_decl.values['mjGEOM_ARROW2'], 102)
+    # Skip a few...
+
+    self.assertEqual(enum_decl.values['mjGEOM_NONE'], 1001)
+
+if __name__ == '__main__':
+  absltest.main()