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",

            "leg/myolegs_abdomen.xml",

            "osl/myolegs_osl.xml",

            # torso

            "torso/myotorso_rigid.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()