Kyle Bayes
ed16f2daf2
PiperOrigin-RevId: 731343200 Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
70 lines
2.9 KiB
Python
70 lines
2.9 KiB
Python
# Copyright 2022 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Tests for enums.py."""
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from absl.testing import absltest
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from . import enums
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class EnumsTest(absltest.TestCase):
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# "simple" enum that just starts at zero and increment by one.
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def test_mjtJoint(self): # pylint: disable=invalid-name
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enum_decl = enums.ENUMS['mjtJoint']
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self.assertEqual(enum_decl.name, 'mjtJoint')
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self.assertEqual(enum_decl.declname, 'enum mjtJoint_')
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self.assertEqual(
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tuple(enum_decl.values.items()), (('mjJNT_FREE', 0),
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('mjJNT_BALL', 1),
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('mjJNT_SLIDE', 2),
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('mjJNT_HINGE', 3)))
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# all values explicitly specified
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def test_mjtEnableBit(self): # pylint: disable=invalid-name
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enum_decl = enums.ENUMS['mjtEnableBit']
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self.assertEqual(enum_decl.name, 'mjtEnableBit')
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self.assertEqual(enum_decl.declname, 'enum mjtEnableBit_')
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self.assertEqual(
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tuple(enum_decl.values.items()), (('mjENBL_OVERRIDE', 1<<0),
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('mjENBL_ENERGY', 1<<1),
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('mjENBL_FWDINV', 1<<2),
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('mjENBL_INVDISCRETE', 1<<3),
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('mjENBL_MULTICCD', 1<<4),
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('mjENBL_ISLAND', 1<<5),
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('mjNENABLE', 6)))
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# values mostly increment by one with occasional overrides
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def test_mjtGeom(self): # pylint: disable=invalid-name
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enum_decl = enums.ENUMS['mjtGeom']
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self.assertEqual(enum_decl.name, 'mjtGeom')
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self.assertEqual(enum_decl.declname, 'enum mjtGeom_')
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self.assertEqual(enum_decl.values['mjGEOM_PLANE'], 0)
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self.assertEqual(enum_decl.values['mjGEOM_HFIELD'], 1)
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self.assertEqual(enum_decl.values['mjGEOM_SPHERE'], 2)
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# Skip a few...
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self.assertEqual(enum_decl.values['mjGEOM_ARROW'], 100)
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self.assertEqual(enum_decl.values['mjGEOM_ARROW1'], 101)
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self.assertEqual(enum_decl.values['mjGEOM_ARROW2'], 102)
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self.assertEqual(enum_decl.values['mjGEOM_TRIANGLE'], 108)
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# Skip a few...
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self.assertEqual(enum_decl.values['mjGEOM_NONE'], 1001)
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if __name__ == '__main__':
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absltest.main()
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