update python test

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Dec 9, 2024 · d0fdc9c · d0fdc9c
1 parent f253f0d
commit d0fdc9c
Showing 1 changed file with 42 additions and 1 deletion.
diff --git a/python/test/pyLink_TEST.py b/python/test/pyLink_TEST.py
@@ -482,7 +482,7 @@ def test_resolveauto_inertialsWithMultipleCollisions(self):
         self.assertEqual(Vector3d(2.013513, 2.013513, 0.72603),
             link.inertial().mass_matrix().diagonal_moments())
 
-    def test_inertial_values_given_with_auto_set_to_true(self):
+    def test_resolveauto_inertialsWithMass(self):
         sdf = "<?xml version=\"1.0\"?>" + \
         "<sdf version=\"1.11\">" + \
         "  <model name='compound_model'>" + \
@@ -519,6 +519,47 @@ def test_inertial_values_given_with_auto_set_to_true(self):
         root.resolve_auto_inertials(errors, sdfParserConfig)
         self.assertEqual(len(errors), 0)
 
+        self.assertEqual(4.0, link.inertial().mass_matrix().mass())
+        self.assertEqual(Pose3d.ZERO, link.inertial().pose())
+        self.assertEqual(Vector3d(0.66666, 0.66666, 0.66666),
+            link.inertial().mass_matrix().diagonal_moments())
+
+    def test_inertial_values_given_with_auto_set_to_true(self):
+        sdf = "<?xml version=\"1.0\"?>" + \
+        "<sdf version=\"1.11\">" + \
+        "  <model name='compound_model'>" + \
+        "   <link name='compound_link'>" + \
+        "     <inertial auto='True'>" + \
+        "       <pose>1 1 1 2 2 2</pose>" + \
+        "       <inertia>" + \
+        "         <ixx>1</ixx>" + \
+        "         <iyy>1</iyy>" + \
+        "         <izz>1</izz>" + \
+        "       </inertia>" + \
+        "     </inertial>" + \
+        "     <collision name='box_collision'>" + \
+        "      <density>2.0</density>" + \
+        "      <geometry>" + \
+        "        <box>" + \
+        "          <size>1 1 1</size>" + \
+        "        </box>" + \
+        "        </geometry>" + \
+        "      </collision>" + \
+        "    </link>" + \
+        "   </model>" + \
+        "  </sdf>"
+
+        root = Root()
+        sdfParserConfig = ParserConfig()
+        errors = root.load_sdf_string(sdf, sdfParserConfig)
+        self.assertEqual(errors, None)
+
+        model = root.model()
+        link = model.link_by_index(0)
+        errors = []
+        root.resolve_auto_inertials(errors, sdfParserConfig)
+        self.assertEqual(len(errors), 0)
+
         self.assertNotEqual(4.0, link.inertial().mass_matrix().mass())
         self.assertEqual(Pose3d.ZERO, link.inertial().pose())
         self.assertEqual(Vector3d(0.33333, 0.33333, 0.33333),