Выстроена готовая 3Д сцена

tests/test_mesh_scale.py

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+import xml.etree.ElementTree as ET
+
+import numpy as np
+import pytest
+import trimesh
+
+from iiwa_genesis.config import DESCRIPTION
+
+
+@pytest.mark.parametrize("name", ["base_link"] + [f"link{i}" for i in range(1, 8)])
+def test_visual_matches_collision_in_metres(name):
+    path = DESCRIPTION / "urdf/iiwa_with_gripper.urdf"
+    link = ET.parse(path).find(f"link[@name='{name}']")
+    sizes = []
+    for tag in ("visual", "collision"):
+        node = link.find(f"{tag}/geometry/mesh")
+        mesh = trimesh.load(path.parent / node.get("filename"), force="scene")
+        scale = np.fromstring(node.get("scale", "1 1 1"), sep=" ")
+        sizes.append(mesh.extents * scale)
+    np.testing.assert_allclose(sizes[0], sizes[1], rtol=.05, atol=.003)
+    assert max(sizes[0]) < .6