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Organizing unit tests. Typo fixes.
1 parent 04c8a5a commit 0082ab5

19 files changed

+155
-225
lines changed

‎tests/data/error_collision_geometry_not_exist.urdf‎

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This file was deleted.

tests/data/error_material_same_name.urdf renamed to tests/data/error_dupilcate_material_names.urdf

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@@ -1,7 +1,4 @@
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<robot name="error_check">
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<material name="red">
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<color rgba="1.0 0.0 0.0 1"/>
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</material>
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<robot name="same_material_name">
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<material name="green">
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<color rgba="0.0 1.0 0.0 1"/>
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</material>

‎tests/data/error_duplicate_joint_names.urdf‎

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<robot name="duplicate_joint_names">
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<link name="BaseLink">
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<visual>
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<origin rpy="0 0 0" xyz="-2 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</visual>
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</link>
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<link name="link2">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</visual>
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</link>
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<link name="link3">
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<visual>
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<origin rpy="0 0 0" xyz="2 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</visual>
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</link>
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<joint name="JointA" type="fixed">
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<parent link="BaseLink"/>
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<child link="link2" />
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</joint>
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<!-- This is a deliberate mistake. -->
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<!-- The joint name is the same as the existing joint name. -->
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<joint name="JointA" type="fixed">
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<parent link="link2"/>
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<child link="link3" />
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</joint>
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</robot>

tests/data/error_link_same_name.urdf renamed to tests/data/error_duplicate_link_names.urdf

Lines changed: 1 addition & 14 deletions
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@@ -1,21 +1,10 @@
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<robot name="error_check">
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<material name="red">
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<color rgba="1.0 0.0 0.0 1"/>
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</material>
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<material name="green">
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<color rgba="0.0 1.0 0.0 1"/>
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</material>
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<material name="blue">
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<color rgba="0.0 0.0 1.0 1"/>
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</material>
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<robot name="duplicate_link_names">
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<link name="BaseLink">
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<visual>
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<origin rpy="0 0 0" xyz="-2 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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<material name="red"/>
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</visual>
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</link>
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@@ -25,7 +14,6 @@
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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<material name="green"/>
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</visual>
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</link>
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@@ -37,7 +25,6 @@
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<geometry>
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<cylinder radius="0.5" length="1"/>
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</geometry>
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<material name="blue"/>
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</visual>
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</link>
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</robot>

tests/data/error_joint_non_existent_child_link_name.urdf renamed to tests/data/error_incorrect_joint_child_link_name.urdf

Lines changed: 1 addition & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -1,21 +1,10 @@
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<robot name="error_check">
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<material name="red">
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<color rgba="1.0 0.0 0.0 1"/>
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</material>
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<material name="green">
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<color rgba="0.0 1.0 0.0 1"/>
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</material>
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<material name="blue">
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<color rgba="0.0 0.0 1.0 1"/>
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</material>
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<robot name="incorrect_joint_child_link_name">
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<link name="BaseLink">
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<visual>
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<origin rpy="0 0 0" xyz="-2 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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<material name="red"/>
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</visual>
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</link>
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@@ -25,7 +14,6 @@
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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<material name="green"/>
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</visual>
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</link>
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tests/data/error_joint_non_existent_parent_link_name.urdf renamed to tests/data/error_incorrect_joint_parent_link_name.urdf

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@@ -1,21 +1,10 @@
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<robot name="error_check">
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<material name="red">
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<color rgba="1.0 0.0 0.0 1"/>
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</material>
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<material name="green">
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<color rgba="0.0 1.0 0.0 1"/>
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</material>
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<material name="blue">
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<color rgba="0.0 0.0 1.0 1"/>
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</material>
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<robot name="incorrect_joint_parent_link_name">
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<link name="BaseLink">
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<visual>
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<origin rpy="0 0 0" xyz="-2 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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<material name="red"/>
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</visual>
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</link>
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@@ -25,7 +14,6 @@
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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<material name="green"/>
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</visual>
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</link>
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tests/data/error_joint_incorrect_type.urdf renamed to tests/data/error_incorrect_joint_type.urdf

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@@ -1,4 +1,4 @@
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<robot name="error_check">
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<robot name="incorrect_joint_type">
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<link name="BaseLink">
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<visual>
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<origin rpy="0 0 0" xyz="-2 0 0.5"/>

‎tests/data/error_incorrect_visual_geometry_name.urdf‎

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<robot name="incorrect_visual_geometry_name">
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<link name="BaseLink">
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<visual>
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<!-- This is a deliberate mistake. -->
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<!-- The specified geometry type is invalid. -->
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<geometry>
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<foo size="1 1 1"/>
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</geometry>
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<material name="green"/>
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</visual>
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</link>
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</robot>

‎tests/data/error_invalid_geometry_type.urdf‎

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‎tests/data/error_invalid_material_name.urdf‎

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<robot name="invalid_material_name">
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<material name="red">
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<color rgba="1.0 0.0 0.0 1"/>
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</material>
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<link name="BaseLink">
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<visual>
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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<!-- This is a deliberate mistake. -->
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<!-- The specified material does not exist. -->
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<material name="green"/>
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</visual>
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</link>
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</robot>

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