From e0cf6ad046a62865cca67e105ccd40ed6df3010d Mon Sep 17 00:00:00 2001
From: Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
Date: Mon, 11 Nov 2024 17:47:59 +0100
Subject: [PATCH] Add additional test for non-existing string path

---
 tests/test_urdf_parsing.py | 21 +++++++++++++++++++--
 1 file changed, 19 insertions(+), 2 deletions(-)

diff --git a/tests/test_urdf_parsing.py b/tests/test_urdf_parsing.py
index 4591693..87332a7 100644
--- a/tests/test_urdf_parsing.py
+++ b/tests/test_urdf_parsing.py
@@ -1,3 +1,5 @@
+import pathlib
+
 import pytest
 import robot_descriptions
 import robot_descriptions.loaders.idyntree
@@ -37,8 +39,11 @@ def test_urdf_parsing(robot: Robot) -> None:
 
     # Check that it fails is is_urdf=True and the resource is a non-existing path
     with pytest.raises(FileNotFoundError):
-        _ = rod.Sdf.load(sdf="/non/existing/path", is_urdf=None)
-        _ = rod.Sdf.load(sdf="/non/existing/path", is_urdf=False)
+        _ = rod.Sdf.load(sdf="/non/existing/path.sdf", is_urdf=False)
+
+    # Check that it fails is is_urdf=True and the resource is an empty string
+    with pytest.raises(FileNotFoundError):
+        _ = rod.Sdf.load(sdf=pathlib.Path("/non/existing/path.sdf"), is_urdf=False)
 
     # The following instead should succeed
     _ = rod.Sdf.load(sdf=urdf_path, is_urdf=None)
@@ -46,6 +51,18 @@ def test_urdf_parsing(robot: Robot) -> None:
     _ = rod.Sdf.load(sdf=str(urdf_path), is_urdf=None)
     _ = rod.Sdf.load(sdf=str(urdf_path), is_urdf=True)
     _ = rod.Sdf.load(sdf=urdf_path.read_text(), is_urdf=True)
+    _ = rod.Sdf.load(
+        sdf="<robot name='minimal_robot'> \
+                <link name='base_link'/> \
+                <joint name='base_to_link1' type='continuous'> \
+                    <parent link='base_link'/> \
+                    <child link='link1'/> \
+                    <origin xyz='0 0 1' rpy='0 0 0'/> \
+                </joint> \
+                <link name='link1'/> \
+                </robot> \
+    "
+    )
 
     # Load once again the urdf
     rod_sdf = rod.Sdf.load(sdf=urdf_path)