Jerry
79 lines
2.5 KiB
Python
79 lines
2.5 KiB
Python
from __future__ import annotations
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import importlib.util
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import tempfile
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import unittest
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from pathlib import Path
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import xml.etree.ElementTree as ET
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import zipfile
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from build123d import Box, export_step
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ROOT = Path(__file__).resolve().parents[1]
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def load_module(name: str, path: Path):
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spec = importlib.util.spec_from_file_location(name, path)
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module = importlib.util.module_from_spec(spec)
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assert spec.loader
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spec.loader.exec_module(module)
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return module
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SURFACEIR = load_module(
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"surfaceir_pipeline_robot_export_test",
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ROOT / "scripts" / "surfaceir_pipeline.py",
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)
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ROBOT_EXPORT = load_module(
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"robot_description_export_test",
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ROOT / "scripts" / "robot_description_export.py",
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)
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class RobotDescriptionExportTests(unittest.TestCase):
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def test_portable_urdf_and_mjcf_packages_rebuild_from_designir(self) -> None:
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with tempfile.TemporaryDirectory() as temporary:
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root = Path(temporary)
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teacher = root / "teacher.step"
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designir = root / "box.designir.json"
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export_step(Box(10, 20, 30), teacher)
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SURFACEIR.write_json(
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designir,
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SURFACEIR.extract_surfaceir(teacher),
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)
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teacher.unlink()
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for output_format, description_suffix, xml_root in (
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("urdf", ".urdf", "robot"),
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("mjcf", ".mjcf.xml", "mujoco"),
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):
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result = ROBOT_EXPORT.export_robot_package(
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designir,
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root / output_format,
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output_format,
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)
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package = Path(result["package"])
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self.assertTrue(package.is_file())
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with zipfile.ZipFile(package) as archive:
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names = archive.namelist()
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description = next(
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name
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for name in names
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if name.endswith(description_suffix)
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)
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self.assertTrue(
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any(name.startswith("meshes/") and name.endswith(".stl") for name in names)
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)
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self.assertIn("robot-export.json", names)
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root_element = ET.fromstring(archive.read(description))
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self.assertEqual(xml_root, root_element.tag)
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self.assertEqual(
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"static_single_link",
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result["robot_structure"],
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)
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if __name__ == "__main__":
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unittest.main()
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