Add new test of UrdfExporter

Author: diegoferigo

tests/test_urdf_exporter.py

@@ -0,0 +1,125 @@
+import idyntree.bindings as idt
+import numpy as np
+import numpy.typing as npt
+import pytest
+from utils_models import ModelFactory, Robot
+
+import rod
+import rod.urdf.exporter
+
+
+@pytest.mark.parametrize(
+    "robot",
+    [
+        Robot.iCub,
+        Robot.DoublePendulum,
+        Robot.Cassie,
+        Robot.Ur10,
+        Robot.AtlasV4,
+        Robot.Ergocub,
+    ],
+)
+def test_urdf_exporter(robot: Robot) -> None:
+    """Test exporting URDF files."""
+
+    # Get the path to the URDF.
+    original_urdf_path = ModelFactory.get_model_description(robot=robot)
+
+    # Load the URDF (it gets converted to SDF internally).
+    sdf = rod.Sdf.load(sdf=original_urdf_path, is_urdf=True)
+
+    # Export the URDF from the in-memory SDF-based description.
+    exported_urdf_string = rod.urdf.exporter.UrdfExporter().to_urdf_string(sdf=sdf)
+
+    # Create two model loaders.
+    mdl_loader_original = idt.ModelLoader()
+    mdl_loader_exported = idt.ModelLoader()
+
+    # Get the joint serialization from ROD.
+    joint_names = [j.name for j in sdf.model.joints() if j.type != "fixed"]
+
+    # Load the original URDF.
+    assert mdl_loader_original.loadReducedModelFromString(
+        original_urdf_path.read_text(), joint_names
+    )
+
+    # Load the exported URDF.
+    assert mdl_loader_exported.loadReducedModelFromString(
+        exported_urdf_string, joint_names
+    )
+
+    # Create two KinDynComputations objects, one for the original URDF and
+    # one for the exported URDF.
+    kin_dyn_original = idt.KinDynComputations()
+    kin_dyn_exported = idt.KinDynComputations()
+
+    # Load the two robot models in the KinDynComputations objects.
+    assert kin_dyn_original.loadRobotModel(mdl_loader_original.model())
+    assert kin_dyn_exported.loadRobotModel(mdl_loader_exported.model())
+
+    # Get all the links and frames from the original URDF.
+    all_original_frames = [
+        kin_dyn_original.getFrameName(i)
+        for i in range(
+            kin_dyn_original.getNrOfLinks(), kin_dyn_original.getNrOfFrames()
+        )
+    ]
+
+    all_exported_frames = [
+        kin_dyn_exported.getFrameName(i)
+        for i in range(
+            kin_dyn_exported.getNrOfLinks(), kin_dyn_exported.getNrOfFrames()
+        )
+    ]
+
+    # =================================
+    # Test that kinematics is preserved
+    # =================================
+
+    def get_frame_transform(
+        kin_dyn: idt.KinDynComputations, frame_name: str
+    ) -> npt.NDArray:
+
+        frame_idx = kin_dyn.getFrameIndex(frame_name)
+        assert frame_idx >= 0, frame_name
+
+        if frame_name == kin_dyn.getFloatingBase():
+            H_idt = kin_dyn.getWorldBaseTransform()
+        else:
+            H_idt = kin_dyn.getWorldTransform(frame_name)
+
+        H = np.eye(4)
+        H[0:3, 3] = H_idt.getPosition().toNumPy()
+        H[0:3, 0:3] = H_idt.getRotation().toNumPy()
+
+        return H
+
+    for frame in set(all_original_frames).intersection(all_exported_frames):
+
+        W_H_F_original = get_frame_transform(kin_dyn=kin_dyn_original, frame_name=frame)
+        W_H_F_exported = get_frame_transform(kin_dyn=kin_dyn_exported, frame_name=frame)
+
+        assert W_H_F_exported == pytest.approx(W_H_F_original, abs=1e-6), (
+            frame,
+            W_H_F_original,
+            W_H_F_exported,
+            np.abs(W_H_F_original - W_H_F_exported),
+        )
+
+    # ===============================
+    # Test that dynamics is preserved
+    # ===============================
+
+    mass_original = kin_dyn_original.model().getTotalMass()
+    mass_exported = kin_dyn_exported.model().getTotalMass()
+    assert mass_exported == pytest.approx(mass_original, abs=1e-6)
+
+    locked_inertia_original = (
+        kin_dyn_original.getRobotLockedInertia().asMatrix().toNumPy()
+    )
+
+    locked_inertia_exported = (
+        kin_dyn_exported.getRobotLockedInertia().asMatrix().toNumPy()
+    )
+
+    assert locked_inertia_exported == pytest.approx(locked_inertia_original, abs=1e-6)