feat: add universal grant Webots world

src/iiwa_experement/test/test_package_layout.py

@@ -42,6 +42,7 @@ def test_expected_resources_are_installed():
         'package.xml',
         'doc/experements.md',
         'doc/experiment-scenes.md',
+        'worlds/grant/iiwa-grant.wbt',
     ):
         path = share / relative
         assert path.is_file(), path

src/iiwa_experement/test/test_world.py

@@ -0,0 +1,52 @@
+"""The world template contains only the shared table, fences and lighting."""
+import re
+from pathlib import Path
+
+
+PACKAGE = Path(__file__).resolve().parents[1]
+WORLD = PACKAGE / 'worlds' / 'grant' / 'iiwa-grant.wbt'
+
+
+def test_world_matches_base_layout():
+    text = WORLD.read_text(encoding='utf-8')
+    assert '#VRML_SIM R2025a utf8' in text
+    assert 'basicTimeStep 32' in text
+    assert re.search(r'CollaborativeRobotTable \{\s+translation 0 0 -0\.007', text)
+    assert text.count('WorkspaceLimiter {') == 2
+    assert 'WorkspaceLimiter_back' in text
+    assert 'WorkspaceLimiter_right' in text
+    assert 'coulombFriction [ 0.6 ]' in text
+    assert 'Object.proto' not in text
+
+
+def test_world_has_no_preplaced_experiment_objects_or_robot():
+    text = WORLD.read_text(encoding='utf-8')
+    for asset in (
+        'stapel.obj',
+        'base-detail.obj',
+        'cap.obj',
+        'lotok.obj',
+        'vint.obj',
+        'tool-magizine.obj',
+        'vacum-tool.obj',
+        'magnit-tool.obj',
+        'germetic-tool.obj',
+        'wranch-tool.obj',
+    ):
+        assert asset not in text
+    assert 'Kuka' not in text
+    assert 'Robot {' not in text
+    assert 'GrantToolRack' not in text
+
+
+def test_world_only_references_two_local_protos():
+    text = WORLD.read_text(encoding='utf-8')
+    externprotos = re.findall(r'EXTERNPROTO "([^"]+)"', text)
+    local = [url for url in externprotos if not url.startswith(('http://', 'https://'))]
+    assert local == [
+        '../../../iiwa_description/resource/protos/CollaborativeRobotTable.proto',
+        '../../../iiwa_description/resource/protos/WorkspaceLimiter.proto',
+    ]
+    for url in externprotos:
+        if url.startswith(('http://', 'https://')):
+            assert '/webots/R2025a/' in url