def add_rope(plant, scene_graph, rope_config, X_W, rope_name="rope"):
parser = Parser(plant, scene_graph)
rope_sdf = generate_rope_sdf_from_config(rope_config, rope_name)
rope_model = parser.AddModelFromString(file_contents=rope_sdf,
file_type="sdf",
model_name=rope_name)
plant.WeldFrames(plant.world_frame(),
plant.GetFrameByName(f"{rope_name}_capsule_1"), X_W)
return rope_model
def test_strict(self):
plant = MultibodyPlant(time_step=0.01)
parser = Parser(plant=plant)
model = """<robot name='robot' version='0.99'>
<link name='a'/>
</robot>"""
parser.AddModelFromString(file_contents=model,
file_type='urdf',
model_name='lax')
parser.SetStrictParsing()
with self.assertRaises(RuntimeError) as e:
result = parser.AddModelFromString(file_contents=model,
file_type='urdf',
model_name='strict')
pattern = r'.*version.*ignored.*'
message = str(e.exception)
match = re.match(pattern, message)
self.assertTrue(match, f'"{message}" does not match "{pattern}"')
def test_parser_string(self):
"""Checks parsing from a string (not file_name)."""
sdf_file = FindResourceOrThrow(
"drake/multibody/benchmarks/acrobot/acrobot.sdf")
with open(sdf_file, "r") as f:
sdf_contents = f.read()
plant = MultibodyPlant(time_step=0.01)
parser = Parser(plant=plant)
result = parser.AddModelFromString(
file_contents=sdf_contents, file_type="sdf")
self.assertIsInstance(result, ModelInstanceIndex)
