Kyle Bayes
39d20f20ea
PiperOrigin-RevId: 487187845 Change-Id: Iddf8afd16abb9a22bba6a53a0ecc0423208f41e6
81 lines
2.8 KiB
Python
81 lines
2.8 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 MuJoCo Python function bindings."""
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from absl.testing import absltest
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from absl.testing import parameterized
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from introspect import functions
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import mujoco
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# Omitted UI framework functions (no support yet)
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UI_FUNCTIONS = [
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'mjui_add', 'mjui_addToSection', 'mjui_event', 'mjui_render', 'mjui_resize',
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'mjui_themeColor', 'mjui_themeSpacing', 'mjui_update'
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]
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# Omitted error and alloc/free memory functions (not needed in Python)
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MEMORY_FUNCTIONS = [
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'mju_strncpy', 'mju_clearHandlers', 'mju_warning', 'mju_warning_i',
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'mju_warning_s', 'mju_malloc', 'mju_free', 'mju_error', 'mju_error_i',
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'mju_error_s', 'mju_boxQPmalloc', 'mj_warning', 'mj_stackAlloc',
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'mj_makeData', 'mj_copyData', 'mj_deleteData', 'mj_loadModel',
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'mj_copyModel', 'mj_deleteModel'
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]
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# Omitted irrelevant renderer context functions
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CONTEXT_FUNCTIONS = ['mjr_makeContext', 'mjr_freeContext', 'mjr_defaultContext']
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# Omitted irrelevant visual functions
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VISUAL_FUNCTIONS = [
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'mjv_defaultScene', 'mjv_makeScene', 'mjv_freeScene', 'mjv_averageCamera'
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]
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# Omitted XML and Virtual Filesystem (VFS) functions
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VFS_FUNCTIONS = [
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'mj_loadXML', 'mj_makeEmptyFileVFS', 'mj_freeLastXML', 'mj_findFileVFS',
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'mj_deleteVFS', 'mj_defaultVFS', 'mj_addFileVFS', 'mj_deleteFileVFS'
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]
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# Omitted plugin functions
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PLUGIN_FUNCTIONS = [
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'mj_getPluginConfig', 'mjp_getPlugin', 'mjp_getPluginAtSlot',
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'mjp_pluginCount', 'mjp_registerPlugin', 'mjp_defaultPlugin'
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]
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# All omitted functions from the bindings
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OMITTED_LIST = [
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*UI_FUNCTIONS, *MEMORY_FUNCTIONS, *CONTEXT_FUNCTIONS, *VISUAL_FUNCTIONS,
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*VFS_FUNCTIONS, *PLUGIN_FUNCTIONS
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]
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class MuJoCoFunctionsTest(parameterized.TestCase):
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def test_for_missing_function_bindings(self):
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# All functions found by introspect
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possible_funcs = functions.FUNCTIONS.keys()
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# All functions accounted for (have bindings or otherwise omitted)
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accounted_funcs = set(OMITTED_LIST + dir(mujoco))
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# List of possibly missing functions
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missing_funcs = [f for f in possible_funcs if f not in accounted_funcs]
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# Verify that there are no missing functions in the Python bindings
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self.assertEmpty(missing_funcs)
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if __name__ == '__main__':
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absltest.main()
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