Test PyBullet loader on an empty robot description

Author: stephane-caron

CHANGELOG.md

@@ -17,12 +17,12 @@ All notable changes to this project will be documented in this file.
 
 - A1: Split description again into URDF and MJCF again
 - Command-line: refer to yourdfpy for animation
+- eDO: update cache path to match package name
 - Flatten cache directory structure
 - Ginger: update cache path to match package name
 - Go1: Split description again into URDF and MJCF again
 - Match cache path with package name when it helps PyBullet
 - Remove ``MESHES_PATH`` attribute
-- eDO: update cache path to match package name
 
 ### Fixed
 

robot_descriptions/_empty_description.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright 2022 Stéphane Caron
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+Empty description, used in unit tests.
+"""

tests/test_git.py renamed to tests/test_cache.py

@@ -42,6 +42,13 @@ def tearDown(self):
         """
         pybullet.disconnect()
 
+    def test_value_error_when_no_urdf(self):
+        """
+        Test exception raised when a description has no URDF_PATH.
+        """
+        with self.assertRaises(ValueError):
+            load_robot_description("_empty_description")
+
     @staticmethod
     def get_test_for_description(description: str):
         """