feat: launch grant experiment by id

src/iiwa_experement/test/test_runtime_config.py

@@ -0,0 +1,112 @@
+"""Temporary runtime files point at installed assets and keep patron."""
+from pathlib import Path
+
+import pytest
+import yaml
+from ament_index_python.packages import get_package_share_directory
+
+from iiwa_experement.runtime_config import (
+    LOCAL_PROTOS,
+    prepare_runtime_files,
+)
+
+
+PACKAGE = Path(__file__).resolve().parents[1]
+CONFIG_SHARE = Path(get_package_share_directory('iiwa_config'))
+DESCRIPTION_SHARE = Path(get_package_share_directory('iiwa_description'))
+PACKAGE_SHARE = Path(get_package_share_directory('iiwa_experement'))
+BASE_SETTING = CONFIG_SHARE / 'config' / 'setting.yaml'
+WORLD_TEMPLATE = PACKAGE_SHARE / 'worlds' / 'grant' / 'iiwa-grant.wbt'
+
+
+def prepare(tmp_path, **overrides):
+    arguments = {
+        'base_setting': BASE_SETTING,
+        'world_template': WORLD_TEMPLATE,
+        'description_share': DESCRIPTION_SHARE,
+        'output_dir': tmp_path / 'run',
+    }
+    arguments.update(overrides)
+    return prepare_runtime_files(**arguments)
+
+
+def test_world_copy_resolves_only_local_protos(tmp_path):
+    world_path, _ = prepare(tmp_path)
+    text = world_path.read_text(encoding='utf-8')
+    for name in LOCAL_PROTOS:
+        absolute = (DESCRIPTION_SHARE / 'resource' / 'protos' / name).resolve()
+        assert absolute.is_file()
+        assert f'EXTERNPROTO "{absolute}"' in text
+    assert 'EXTERNPROTO "../../../iiwa_description' not in text
+    assert text.count('https://raw.githubusercontent.com/cyberbotics/webots/R2025a/') == 3
+    assert world_path == tmp_path / 'run' / 'iiwa-grant.wbt'
+
+
+def test_setting_copy_disables_random_objects_and_keeps_patron_and_camera(tmp_path):
+    world_path, setting_path = prepare(tmp_path)
+    data = yaml.safe_load(setting_path.read_text(encoding='utf-8'))
+    webots = data['digital_twin']['webots']
+    assert webots['world'] == str(world_path.resolve())
+    assert webots['objects']['enabled'] is False
+    assert webots['objects']['count'] == 0
+    assert data['tool']['active'] == 'patron'
+    assert webots['transform'] == '-0.25 0 0.79'
+    assert webots['rotation'] == '0 0 1 0'
+    assert webots['controller_timer'] == '50'
+    assert any(
+        str(camera).endswith('config/cameras/d455_top.yaml')
+        for camera in webots['cameras']
+    )
+    assert data['controller']['controller_path'].endswith('moveit/iiwa_controller.yaml')
+    assert data['digital_twin']['rviz']['config'].endswith('rviz_moveit.rviz')
+
+
+def test_prepared_setting_is_accepted_by_the_existing_loader(tmp_path):
+    _, setting_path = prepare(tmp_path)
+    from iiwa_utils.setting_loader import build_settings
+
+    settings = build_settings(str(setting_path), check_files=True)
+    assert settings.tool.active == 'patron'
+    assert settings.digital_twin.webots.objects.enabled is False
+    assert settings.digital_twin.webots.objects.count == 0
+    assert settings.digital_twin.webots.cameras
+    assert settings.digital_twin.webots.cameras[0].endswith('d455_top.yaml')
+
+
+def test_tool_active_xacro_and_generated_urdf_include_patron(tmp_path):
+    from iiwa_utils import converter
+    from iiwa_utils.setting_loader import build_settings
+
+    tool_active = DESCRIPTION_SHARE / 'urdf' / 'tools' / 'tool_active.xacro'
+    assert 'patron.xacro' in tool_active.read_text(encoding='utf-8')
+    _, setting_path = prepare(tmp_path)
+    settings = build_settings(str(setting_path), check_files=True)
+    urdf = converter.load_robot_description(
+        settings.robot.description,
+        settings.robot.name,
+        {
+            'simulate': 'true',
+            'initial_positions_file': settings.controller.moveit.initial_positions,
+            'joint_limits_file': settings.controller.moveit.joint_limits,
+        },
+    )
+    assert 'name="patron"' in urdf
+    assert 'link name="patron"' in urdf
+    assert 'patron.dae' in urdf
+
+
+def test_missing_world_template_is_reported(tmp_path):
+    with pytest.raises(FileNotFoundError, match='world template'):
+        prepare(tmp_path, world_template=tmp_path / 'missing.wbt')
+
+
+def test_missing_proto_is_reported(tmp_path):
+    empty_description = tmp_path / 'description'
+    (empty_description / 'resource' / 'protos').mkdir(parents=True)
+    with pytest.raises(FileNotFoundError, match='CollaborativeRobotTable.proto'):
+        prepare(tmp_path, description_share=empty_description)
+
+
+def test_missing_base_setting_is_reported(tmp_path):
+    with pytest.raises(FileNotFoundError, match='base settings'):
+        prepare(tmp_path, base_setting=tmp_path / 'missing.yaml')