From 4a4451fb8428fe7d4c01fd0d0fd04d27a850c246 Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Wed, 14 Feb 2018 14:37:55 -0800
Subject: [PATCH] Add tests for mutli-visual and multi-collision

---
 test/test_urdf.py | 38 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 38 insertions(+)

diff --git a/test/test_urdf.py b/test/test_urdf.py
index 5d3e6c8..ae434f1 100644
--- 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',