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# 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),
('mjENBL_MULTICCD', 1<<4),
('mjNENABLE', 5)))
# 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()
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