wehub-resource-sync
339 lines
10 KiB
Python
339 lines
10 KiB
Python
import tempfile
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import unittest
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from pathlib import Path
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from sdf.validation import validate_sdf_xml
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class SdfValidationTests(unittest.TestCase):
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def setUp(self) -> None:
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self._tempdir = tempfile.TemporaryDirectory(prefix="tmp-sdf-validation-")
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self.temp_root = Path(self._tempdir.name)
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def tearDown(self) -> None:
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self._tempdir.cleanup()
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def _validate(self, body: str):
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return validate_sdf_xml(
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body.strip(),
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source_path=self.temp_root / "generated.sdf",
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base_dir=self.temp_root,
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)
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def _error_codes(self, body: str) -> set[str]:
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return {finding.code for finding in self._validate(body).errors}
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def _warning_codes(self, body: str) -> set[str]:
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return {finding.code for finding in self._validate(body).warnings}
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def test_valid_minimal_model_passes(self) -> None:
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result = self._validate(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link" />
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</model>
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</sdf>
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"""
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)
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self.assertEqual([], result.errors)
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def test_valid_world_only_scene_passes(self) -> None:
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result = self._validate(
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"""
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<sdf version="1.12">
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<world name="sample_world">
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<include><uri>model://sun</uri></include>
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<light name="key" type="directional" />
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</world>
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</sdf>
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"""
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)
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self.assertEqual([], result.errors)
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def test_malformed_pose_length_fails(self) -> None:
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self.assertIn(
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"invalid_numeric_vector",
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self._error_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<pose>1 2 3</pose>
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<link name="base_link" />
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</model>
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</sdf>
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"""
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),
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)
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def test_quaternion_pose_zero_norm_fails_and_non_unit_warns(self) -> None:
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self.assertIn(
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"zero_quaternion",
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self._error_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<pose rotation_format="quat_xyzw">0 0 0 0 0 0 0</pose>
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<link name="base_link" />
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</model>
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</sdf>
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"""
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),
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)
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self.assertIn(
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"non_unit_quaternion",
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self._warning_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<pose rotation_format="quat_xyzw">0 0 0 0 0 0 2</pose>
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<link name="base_link" />
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</model>
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</sdf>
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"""
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),
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)
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def test_nontrivial_pose_without_relative_to_warns(self) -> None:
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self.assertIn(
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"pose_missing_relative_to",
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self._warning_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link">
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<pose>1 0 0 0 0 0</pose>
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</link>
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</model>
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</sdf>
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"""
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),
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)
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def test_frame_cycle_fails(self) -> None:
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self.assertIn(
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"frame_cycle",
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self._error_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<frame name="a" attached_to="b" />
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<frame name="b" attached_to="a" />
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<link name="base_link" />
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</model>
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</sdf>
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"""
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),
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)
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def test_joint_type_and_world_child_are_checked(self) -> None:
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illegal_type_errors = self._error_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link" />
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<link name="arm_link" />
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<joint name="bad" type="hinge">
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<parent>base_link</parent>
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<child>arm_link</child>
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</joint>
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</model>
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</sdf>
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"""
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)
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self.assertIn("unknown_joint_type", illegal_type_errors)
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world_child_errors = self._error_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link" />
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<joint name="bad" type="fixed">
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<parent>base_link</parent>
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<child>world</child>
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</joint>
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</model>
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</sdf>
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"""
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)
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self.assertIn("invalid_joint_child", world_child_errors)
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def test_axis_zero_fails_and_non_unit_warns(self) -> None:
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zero_errors = self._error_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link" />
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<link name="arm_link" />
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<joint name="bad" type="revolute">
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<parent>base_link</parent>
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<child>arm_link</child>
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<axis><xyz>0 0 0</xyz></axis>
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</joint>
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</model>
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</sdf>
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"""
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)
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self.assertIn("zero_axis", zero_errors)
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warnings = self._warning_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link" />
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<link name="arm_link" />
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<joint name="warns" type="revolute">
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<parent>base_link</parent>
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<child>arm_link</child>
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<axis><xyz>0 0 2</xyz></axis>
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</joint>
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</model>
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</sdf>
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"""
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)
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self.assertIn("non_unit_axis", warnings)
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def test_invalid_primitive_dimensions_fail(self) -> None:
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errors = self._error_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link">
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<visual name="base_visual">
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<geometry><box><size>1 0 1</size></box></geometry>
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</visual>
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</link>
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</model>
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</sdf>
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"""
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)
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self.assertIn("invalid_dimension", errors)
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def test_visual_without_geometry_fails(self) -> None:
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self.assertIn(
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"invalid_geometry_count",
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self._error_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link">
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<visual name="base_visual" />
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</link>
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</model>
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</sdf>
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"""
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),
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)
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def test_mesh_uri_resolution_distinguishes_local_and_external(self) -> None:
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local_errors = self._error_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link">
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<visual name="base_visual">
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<geometry><mesh><uri>meshes/missing.stl</uri></mesh></geometry>
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</visual>
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</link>
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</model>
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</sdf>
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"""
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)
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self.assertIn("missing_mesh_file", local_errors)
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external_result = self._validate(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link">
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<visual name="base_visual">
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<geometry><mesh><uri>package://sample/meshes/base.dae</uri></mesh></geometry>
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</visual>
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</link>
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</model>
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</sdf>
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"""
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)
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self.assertEqual([], external_result.errors)
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def test_invalid_inertial_values_fail(self) -> None:
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mass_errors = self._error_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link">
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<inertial><mass>0</mass></inertial>
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</link>
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</model>
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</sdf>
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"""
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)
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self.assertIn("invalid_mass", mass_errors)
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inertia_errors = self._error_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link">
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>1</ixx><iyy>1</iyy><izz>-1</izz>
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<ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
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</inertia>
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</inertial>
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</link>
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</model>
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</sdf>
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"""
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)
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self.assertIn("invalid_inertia_matrix", inertia_errors)
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def test_sensor_plugin_and_include_required_fields(self) -> None:
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errors = self._error_codes(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link">
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<sensor name="camera" />
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</link>
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<plugin name="controller" />
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<include />
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</model>
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</sdf>
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"""
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)
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self.assertIn("missing_sensor_type", errors)
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self.assertIn("missing_plugin_filename", errors)
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self.assertIn("missing_child_text", errors)
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def test_plugin_contents_are_static_metadata_not_motion_contracts(self) -> None:
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result = self._validate(
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"""
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<sdf version="1.12">
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<model name="sample">
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<link name="base_link" />
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<link name="door_link" />
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<joint name="door_joint" type="fixed">
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<parent>base_link</parent>
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<child>door_link</child>
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</joint>
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<plugin name="controller" filename="gz-sim-custom-controller-system">
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<custom_parameter>opaque</custom_parameter>
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<nested_block invalid_for_validator="but_plugin_owned" />
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</plugin>
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</model>
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</sdf>
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"""
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)
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self.assertEqual([], result.errors)
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if __name__ == "__main__":
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unittest.main()
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