Add tests for mutli-visual and multi-collision

ros · Feb 15, 2018 · 4a4451f · 4a4451f
1 parent 5486300
commit 4a4451f
Showing 1 changed file with 38 additions and 0 deletions.
diff --git a/test/test_urdf.py b/test/test_urdf.py
@@ -144,6 +144,44 @@ def test_robot_material_missing_color_and_texture(self):
 </robot>'''
         self.assertRaises(ParseException, self.parse, xml)
 
+    def test_link_multiple_visual(self):
+        xml = '''<?xml version="1.0"?>
+<robot name="test">
+  <link name="link">
+    <visual>
+      <geometry>
+        <cylinder length="1" radius="1"/>
+      </geometry>
+      <material name="mat"/>
+    </visual>
+    <visual>
+      <geometry>
+        <cylinder length="4" radius="0.5"/>
+      </geometry>
+      <material name="mat2"/>
+    </visual>
+  </link>
+</robot>'''
+        self.parse_and_compare(xml)
+
+    def test_link_multiple_collision(self):
+        xml = '''<?xml version="1.0"?>
+<robot name="test">
+  <link name="link">
+    <collision>
+      <geometry>
+        <cylinder length="1" radius="1"/>
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <cylinder length="4" radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>'''
+        self.parse_and_compare(xml)
+
 
 class LinkOriginTestCase(unittest.TestCase):
     @mock.patch('urdf_parser_py.xml_reflection.on_error',