wehub-resource-sync
52 lines
1.8 KiB
Python
52 lines
1.8 KiB
Python
import unittest
|
|
import xml.etree.ElementTree as ET
|
|
|
|
from tests.python.support.paths import add_repo_path
|
|
|
|
add_repo_path("skills/sdf/scripts")
|
|
|
|
from sdf import builder
|
|
|
|
|
|
class SdfBuilderTests(unittest.TestCase):
|
|
def test_builds_minimal_model_with_box_geometry(self) -> None:
|
|
root = builder.sdf_root()
|
|
model = builder.model(root, "fixture", static=False)
|
|
base = builder.link(model, "base_link")
|
|
visual = builder.visual(base, "base_visual")
|
|
builder.box(visual, (0.4, 0.3, 0.1))
|
|
collision = builder.collision(base, "base_collision")
|
|
builder.box(collision, (0.4, 0.3, 0.1))
|
|
|
|
xml = ET.tostring(root, encoding="unicode")
|
|
|
|
self.assertIn('<sdf version="1.12"', xml)
|
|
self.assertIn('<model name="fixture"', xml)
|
|
self.assertIn("<size>0.4 0.3 0.1</size>", xml)
|
|
|
|
def test_rejects_invalid_numeric_values(self) -> None:
|
|
root = builder.sdf_root()
|
|
model = builder.model(root, "fixture")
|
|
base = builder.link(model, "base_link")
|
|
visual = builder.visual(base, "base_visual")
|
|
|
|
with self.assertRaisesRegex(ValueError, "positive"):
|
|
builder.box(visual, (1, 0, 1))
|
|
with self.assertRaisesRegex(ValueError, "nonzero"):
|
|
builder.axis(model, (0, 0, 0))
|
|
|
|
def test_builds_static_plugin_metadata(self) -> None:
|
|
root = builder.sdf_root()
|
|
model = builder.model(root, "fixture")
|
|
builder.plugin(model, "controller", "gz-sim-joint-controller-system", topic="/cmd")
|
|
|
|
xml = ET.tostring(root, encoding="unicode")
|
|
|
|
self.assertIn('name="controller"', xml)
|
|
self.assertIn('filename="gz-sim-joint-controller-system"', xml)
|
|
self.assertIn("<topic>/cmd</topic>", xml)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|