def test_parse_joint_properties():
loader = DartLoader()
robot = loader.parseSkeleton(
get_asset_path('urdf/test/joint_properties.urdf'))
assert robot is not None
def test_parse_skeleton_loads_primitive_geometry():
loader = DartLoader()
assert loader.parseSkeleton(
get_asset_path('urdf/test/primitive_geometry.urdf')) is not 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_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