test_sims.py

import unittest
import os
import mujoco

model_paths = [
            # Basic models
            "basic/myomuscle.xml",

            # finger models
            "finger/finger_v0.xml",
            "finger/myofinger_v0.xml",
            "finger/motorfinger_v0.xml",

            # elbow models
            "elbow/myoelbow_1dof6muscles_1dofexo.xml",
            "elbow/myoelbow_1dof6muscles.xml",
            "elbow/myoelbow_2dof6muscles.xml",
            "elbow/myoelbow_1dof6muscles_1dofSoftexo_Ideal.xml",
            "elbow/myoelbow_1dof6muscles_1dofSoftexo_sim2.xml",

            # arms
            "arm/myoarm.xml",

            # hand models
            "hand/myohand.xml",

            # leg models
            "leg/myolegs.xml",

            # torso
            "torso/myotorsorigid.xml",

            # scene
            "scene/myosuite_scene_noPedestal.xml",
            "scene/myosuite_scene.xml",
            "scene/myosuite_quad.xml",
            "scene/myosuite_logo.xml",
        ]

class TestSims(unittest.TestCase):

    def get_sim(self, model_path:str=None, model_xmlstr=None):
        """
        Get sim using model_path or model_xmlstr.
        """

        # load from path
        if model_path:

            # resolve full path
            if model_path.startswith("/"):
                fullpath = model_path
            else:
                fullpath = os.path.join(os.path.dirname(__file__), model_path)
            if not os.path.exists(fullpath):
                raise IOError("File %s does not exist" % fullpath)

            # load model
            if model_path.endswith(".mjb"):
                model = mujoco.MjModel.from_binary_path(fullpath)
            elif  model_path.endswith(".xml"):
                model = mujoco.MjModel.from_xml_path(fullpath)

        # load from xml string
        elif model_xmlstr:
            model = mujoco.MjModel.from_xml_path(model_xmlstr)
        else:
            raise TypeError("Both model_path and model_xmlstr can't be None")

        return model


    def test_sims(self):

        for model_path in model_paths:
            print("Testing: {}".format(model_path))
            self.get_sim(model_path)


if __name__ == '__main__':
    unittest.main()