Adds test and fixes documentation

Signed-off-by: Voldivh <[email protected]>

python/CMakeLists.txt

@@ -87,6 +87,7 @@ endif()
 
 if (BUILD_TESTING)
   set(python_tests
+    model_TEST
     testFixture_TEST
     world_TEST
   )

python/src/gz/sim/Model.cc

@@ -38,7 +38,7 @@ void defineSimModel(py::object module)
       "Get the entity which this Model is related to.")
   .def("valid", &gz::sim::Model::Valid,
       py::arg("ecm"),
-      "Check whether this model correctly refers to an entity that"
+      "Check whether this model correctly refers to an entity that "
       "has a components::Model.")
   .def("name", &gz::sim::Model::Name,
       py::arg("ecm"),
@@ -55,17 +55,17 @@ void defineSimModel(py::object module)
   .def("source_file_path", &gz::sim::Model::SourceFilePath,
       py::arg("ecm"),
       "Get the source file where this model came from. If empty,"
-      "the model wasn't loaded directly from a file, probably from an SDF"
+      "the model wasn't loaded directly from a file, probably from an SDF "
       "string.")
   .def("joint_by_name", &gz::sim::Model::JointByName,
       py::arg("ecm"),
       py::arg("name"),
-      "Get the ID of a joint entity which is an immediate child of"
+      "Get the ID of a joint entity which is an immediate child of "
       "this model.")
   .def("link_by_name", &gz::sim::Model::LinkByName,
       py::arg("ecm"),
       py::arg("name"),
-      "Get the ID of a link entity which is an immediate child of"
+      "Get the ID of a link entity which is an immediate child of "
       "this model.")
   .def("joints", &gz::sim::Model::Joints,
       py::arg("ecm"),
@@ -78,11 +78,11 @@ void defineSimModel(py::object module)
       "Get all models which are immediate children of this model.")
   .def("joint_count", &gz::sim::Model::JointCount,
       py::arg("ecm"),
-      "Get the number of joints which are immediate children of this"
+      "Get the number of joints which are immediate children of this "
       "model.")
   .def("link_count", &gz::sim::Model::LinkCount,
       py::arg("ecm"),
-      "Get the number of links which are immediate children of this"
+      "Get the number of links which are immediate children of this "
       "model.")
   .def("set_world_pose_cmd", &gz::sim::Model::SetWorldPoseCmd,
       py::arg("ecm"),

python/test/model_TEST.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+# Copyright (C) 2023 Open Source Robotics Foundation
+
+# 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.
+
+import os
+import unittest
+
+from gz.common import set_verbosity
+from gz.sim8 import TestFixture, Model, World, world_entity
+
+post_iterations = 0
+iterations = 0
+pre_iterations = 0
+
+class TestModel(unittest.TestCase):
+
+    def test_model(self):
+        set_verbosity(4)
+
+        file_path = os.path.dirname(os.path.realpath(__file__))
+        fixture = TestFixture(os.path.join(file_path, 'model_test.sdf'))
+
+        def on_post_udpate_cb(_info, _ecm):
+            global post_iterations
+            post_iterations += 1
+
+        def on_pre_udpate_cb(_info, _ecm):
+            global pre_iterations
+            pre_iterations += 1
+            world_e = world_entity(_ecm)
+            self.assertEqual(1, world_e)
+            w = World(world_e)
+            model = Model(w.model_by_name(_ecm, 'model_test'))
+            # Entity Test
+            self.assertEqual(4, model.entity())
+            # Valid Test
+            self.assertTrue(model.valid(_ecm))
+            # Name Test
+            self.assertEqual('model_test', model.name(_ecm))
+            # Static Test
+            self.assertTrue(model.static(_ecm))
+            # Self Collide Test
+            self.assertTrue(model.self_collide(_ecm))
+            # Wind Mode Test
+            self.assertTrue(model.wind_mode(_ecm))
+            # Get Joints Test
+            self.assertEqual(7, model.joint_by_name(_ecm, 'model_joint_test'))
+            self.assertEqual(1, model.joint_count(_ecm))
+            # Get Links Test
+            self.assertEqual(5, model.link_by_name(_ecm, 'model_link_test_1'))
+            self.assertEqual(6, model.link_by_name(_ecm, 'model_link_test_2'))
+            self.assertEqual(2, model.link_count(_ecm))
+
+        def on_udpate_cb(_info, _ecm):
+            global iterations
+            iterations += 1
+
+        fixture.on_post_update(on_post_udpate_cb)
+        fixture.on_update(on_udpate_cb)
+        fixture.on_pre_update(on_pre_udpate_cb)
+        fixture.finalize()
+
+        server = fixture.server()
+        server.run(True, 1000, False)
+
+        self.assertEqual(1000, pre_iterations)
+        self.assertEqual(1000, iterations)
+        self.assertEqual(1000, post_iterations)
+
+if __name__ == '__main__':
+    unittest.main()

python/test/model_test.sdf

@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+    <world name="world_test">
+        <model name="model_test">
+            <pose>0.2 0.1 0.5 0.1 0.3 0.4</pose>
+            <static>true</static>
+            <self_collide>true</self_collide>
+            <enable_wind>true</enable_wind>
+
+            <link name="model_link_test_1">
+                <pose>0 0 0 0 0 0</pose>
+            </link>
+
+            <link name="model_link_test_2">
+                <pose>0 0 0 0 0 0</pose>
+            </link>
+
+            <joint name="model_joint_test" type="revolute">
+            <parent>model_link_test_1</parent>
+            <child>model_link_test_2</child>
+            </joint>
+
+        </model>
+    </world>
+</sdf>