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indigo back port of #45 #46

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indigo back port of #45 #46

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72 changes: 72 additions & 0 deletions test/test_urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,12 @@ def parse_and_compare(self, orig):
rewritten = minidom.parseString(robot.to_xml_string())
self.assertTrue(xml_matches(xml, rewritten))

def xml_and_compare(self, robot, xml):
robot_xml_string = robot.to_xml_string()
robot_xml = minidom.parseString(robot_xml_string)
orig_xml = minidom.parseString(xml)
self.assertTrue(xml_matches(robot_xml, orig_xml))

def test_new_transmission(self):
xml = '''<?xml version="1.0"?>
<robot name="test">
Expand All @@ -46,6 +52,18 @@ def test_new_transmission(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name = 'test')
trans = urdf.Transmission(name = 'simple_trans')
trans.type = 'transmission_interface/SimpleTransmission'
joint = urdf.TransmissionJoint(name = 'foo_joint')
joint.add_aggregate('hardwareInterface', 'EffortJointInterface')
trans.add_aggregate('joint', joint)
actuator = urdf.Actuator(name = 'foo_motor')
actuator.mechanicalReduction = 50.0
trans.add_aggregate('actuator', actuator)
robot.add_aggregate('transmission', trans)
self.xml_and_compare(robot, xml)

def test_new_transmission_multiple_joints(self):
xml = '''<?xml version="1.0"?>
<robot name="test">
Expand All @@ -65,6 +83,22 @@ def test_new_transmission_multiple_joints(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name = 'test')
trans = urdf.Transmission(name = 'simple_trans')
trans.type = 'transmission_interface/SimpleTransmission'
joint = urdf.TransmissionJoint(name = 'foo_joint')
joint.add_aggregate('hardwareInterface', 'EffortJointInterface')
trans.add_aggregate('joint', joint)
joint = urdf.TransmissionJoint(name = 'bar_joint')
joint.add_aggregate('hardwareInterface', 'EffortJointInterface')
joint.add_aggregate('hardwareInterface', 'EffortJointInterface')
trans.add_aggregate('joint', joint)
actuator = urdf.Actuator(name = 'foo_motor')
actuator.mechanicalReduction = 50.0
trans.add_aggregate('actuator', actuator)
robot.add_aggregate('transmission', trans)
self.xml_and_compare(robot, xml)

def test_new_transmission_multiple_actuators(self):
xml = '''<?xml version="1.0"?>
<robot name="test">
Expand All @@ -81,6 +115,20 @@ def test_new_transmission_multiple_actuators(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name = 'test')
trans = urdf.Transmission(name = 'simple_trans')
trans.type = 'transmission_interface/SimpleTransmission'
joint = urdf.TransmissionJoint(name = 'foo_joint')
joint.add_aggregate('hardwareInterface', 'EffortJointInterface')
trans.add_aggregate('joint', joint)
actuator = urdf.Actuator(name = 'foo_motor')
actuator.mechanicalReduction = 50.0
trans.add_aggregate('actuator', actuator)
actuator = urdf.Actuator(name = 'bar_motor')
trans.add_aggregate('actuator', actuator)
robot.add_aggregate('transmission', trans)
self.xml_and_compare(robot, xml)

def test_new_transmission_missing_joint(self):
xml = '''<?xml version="1.0"?>
<robot name="test">
Expand Down Expand Up @@ -113,6 +161,11 @@ def test_old_transmission(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name = 'test')
trans = urdf.PR2Transmission(name = 'PR2_trans', joint = 'foo_joint', actuator = 'foo_motor', type = 'SimpleTransmission', mechanicalReduction = 1.0)
robot.add_aggregate('transmission', trans)
self.xml_and_compare(robot, xml)

def test_link_material_missing_color_and_texture(self):
xml = '''<?xml version="1.0"?>
<robot name="test">
Expand All @@ -127,6 +180,20 @@ def test_link_material_missing_color_and_texture(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name = 'test')
link = urdf.Link(name = 'link',
visual = urdf.Visual(geometry = urdf.Cylinder(length = 1, radius = 1),
material = urdf.Material(name = 'mat')))
robot.add_link(link)
self.xml_and_compare(robot, xml)

robot = urdf.Robot(name = 'test')
link = urdf.Link(name = 'link')
link.visual = urdf.Visual(geometry = urdf.Cylinder(length = 1, radius = 1),
material = urdf.Material(name = 'mat'))
robot.add_link(link)
self.xml_and_compare(robot, xml)

def test_robot_material(self):
xml = '''<?xml version="1.0"?>
<robot name="test">
Expand All @@ -136,6 +203,11 @@ def test_robot_material(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name = 'test')
material = urdf.Material(name = 'mat', color = urdf.Color([0.0, 0.0, 0.0, 1.0]))
robot.add_aggregate('material', material)
self.xml_and_compare(robot, xml)

def test_robot_material_missing_color_and_texture(self):
xml = '''<?xml version="1.0"?>
<robot name="test">
Expand Down