Merge pull request #1 from EricCousineau-TRI/sdf18_composition-meta

fixup! add failing expectations on Parser::AddAllModelsFromFile
azeey · May 13, 2021 · adccdff · adccdff
2 parents 0df2d5e + df25fd3
commit adccdff
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Showing 2 changed files with 27 additions and 1 deletion.
diff --git a/multibody/parsing/test/parser_test.cc b/multibody/parsing/test/parser_test.cc
@@ -120,6 +120,33 @@ GTEST_TEST(FileParserTest, MultiModelTest) {
   }
 }
 
+std::vector<std::string> GetModelInstanceNames(
+    const MultibodyPlant<double>& plant,
+    const std::vector<ModelInstanceIndex>& models) {
+  std::vector<std::string> names;
+  for (auto model : models) {
+    names.push_back(plant.GetModelInstanceName(model));
+  }
+  return names;
+}
+
+GTEST_TEST(FileParserTest, MultiModelViaWorldIncludesTest) {
+  const std::string sdf_name = FindResourceOrThrow(
+      "drake/multibody/parsing/test/sdf_parser_test/"
+      "world_with_directly_nested_models.sdf");
+  MultibodyPlant<double> plant(0.0);
+  const std::vector<ModelInstanceIndex> models =
+      Parser(&plant).AddAllModelsFromFile(sdf_name);
+  const std::vector<std::string> model_names_actual =
+      GetModelInstanceNames(plant, models);
+  const std::vector<std::string> model_names_expected = {
+      "parent_model",
+      "parent_model::robot_1",
+      "parent_model::robot_2",
+  };
+  EXPECT_EQ(model_names_actual, model_names_expected);
+}
+
 GTEST_TEST(FileParserTest, ExtensionMatchTest) {
   // An unknown extension is an error.
   // (Check both singular and plural overloads.)

diff --git a/multibody/parsing/test/sdf_parser_test/world_with_directly_nested_models.sdf b/multibody/parsing/test/sdf_parser_test/world_with_directly_nested_models.sdf
@@ -34,4 +34,3 @@
     </model>
   </world>
 </sdf>
-