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import platform
import pytest
import dartpy
from dartpy.utils import DartLoader
import os
from tests.util import get_asset_path
def test_parse_skeleton_non_existing_path_returns_null():
assert os.path.isfile(get_asset_path('skel/cubes.skel')) is True
loader = DartLoader()
assert loader.parseSkeleton(get_asset_path('skel/test/does_not_exist.urdf')) is None
def test_parse_skeleton_invalid_urdf_returns_null():
loader = DartLoader()
assert loader.parseSkeleton(get_asset_path('urdf/invalid.urdf')) is None
def test_parse_skeleton_missing_mesh_returns_null():
loader = DartLoader()
assert loader.parseSkeleton(get_asset_path('urdf/missing_mesh.urdf')) is None
def test_parse_skeleton_invalid_mesh_returns_null():
loader = DartLoader()
assert loader.parseSkeleton(get_asset_path('urdf/invalid_mesh.urdf')) is None
def test_parse_skeleton_missing_package_returns_null():
loader = DartLoader()
assert loader.parseSkeleton(get_asset_path('urdf/missing_package.urdf')) is None
def test_parse_skeleton_loads_primitive_geometry():
loader = DartLoader()
assert loader.parseSkeleton(get_asset_path('urdf/test/primitive_geometry.urdf')) is not None
# Failing with following errors:
# TypeError: No to_python (by-value) converter found for C++ type: std::shared_ptr<dart::simulation::World>
#
# def test_parse_world():
# loader = DartLoader()
# assert loader.parseWorld(get_asset_path('urdf/testWorld.urdf')) is not None
def test_parse_joint_properties():
loader = DartLoader()
robot = loader.parseSkeleton(get_asset_path('urdf/test/joint_properties.urdf'))
assert robot is not None
# joint1 = robot.getJoint(1)
# assert joint1 is not None
# assert joint1.getDampingCoefficient(0) == pytest.approx(1.2, 1e-12)
# assert joint1.getCoulombFriction(0) == pytest.approx(2.3, 1e-12)
# joint2 = robot.getJoint(2)
# assert joint2 is not None
# assert joint2.getPositionLowerLimit(0) == -float("inf")
# assert joint2.getPositionUpperLimit(0) == float("inf")
# if not platform.linux_distribution()[1] == '14.04':
# assert joint2.isCyclic(0)
if __name__ == "__main__":
pytest.main()
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