test Robot cell and state

tests/robots/test_robot_cell.py

@@ -3,37 +3,63 @@
 from compas_fab.robots import RobotLibrary
 from compas_robots import RobotModel
 
+import pytest
+
 from copy import deepcopy
 
 
-def test_copy():
+@pytest.fixture
+def ur10e_gripper_one_beam():
+    return RobotCellLibrary.ur10e_gripper_one_beam()
+
+
+@pytest.fixture
+def abb_irb4600_40_255_gripper_one_beam():
+    return RobotCellLibrary.abb_irb4600_40_255_gripper_one_beam()
+
+
+@pytest.fixture
+def abb_irb4600_40_255_printing_tool():
+    return RobotCellLibrary.abb_irb4600_40_255_printing_tool()
+
+
+def test_robot_cell_copy(ur10e_gripper_one_beam, abb_irb4600_40_255_gripper_one_beam, abb_irb4600_40_255_printing_tool):
     """Test to comply with Data.copy() mechanism"""
 
-    robot_cell, robot_cell_state = RobotCellLibrary.ur10e_gripper_one_beam()
+    def test(robot_cell, robot_cell_state):
+        robot_cell_copy = robot_cell.copy()
+        assert robot_cell.robot.name == robot_cell_copy.robot.name
+        assert robot_cell.tool_ids == robot_cell_copy.tool_ids
+        assert robot_cell.rigid_body_ids == robot_cell_copy.rigid_body_ids
 
-    robot_cell_copy = robot_cell.copy()
-    assert robot_cell.robot.name == robot_cell_copy.robot.name
-    assert robot_cell.tool_ids == robot_cell_copy.tool_ids
-    assert robot_cell.rigid_body_ids == robot_cell_copy.rigid_body_ids
+        robot_cell_state_copy = robot_cell_state.copy()
+        assert robot_cell_state.tool_ids == robot_cell_state_copy.tool_ids
+        assert robot_cell_state.rigid_body_ids == robot_cell_state_copy.rigid_body_ids
 
-    robot_cell_state_copy = robot_cell_state.copy()
-    assert robot_cell_state.tool_ids == robot_cell_state_copy.tool_ids
-    assert robot_cell_state.rigid_body_ids == robot_cell_state_copy.rigid_body_ids
+    test(*ur10e_gripper_one_beam)
+    test(*abb_irb4600_40_255_gripper_one_beam)
+    test(*abb_irb4600_40_255_printing_tool)
 
 
-def test_deepcopy():
+def test_robot_cell_deepcopy(
+    ur10e_gripper_one_beam, abb_irb4600_40_255_gripper_one_beam, abb_irb4600_40_255_printing_tool
+):
     """Test to make sure copy.deepcopy works"""
-    robot_cell, robot_cell_state = RobotCellLibrary.ur10e_gripper_one_beam()
-    robot_cell_copy = deepcopy(robot_cell)
 
-    assert robot_cell.robot.name == robot_cell_copy.robot.name
-    assert robot_cell.tool_ids == robot_cell_copy.tool_ids
-    assert robot_cell.rigid_body_ids == robot_cell_copy.rigid_body_ids
+    def test(robot_cell, robot_cell_state):
+
+        robot_cell_copy = deepcopy(robot_cell)
+        assert robot_cell.robot.name == robot_cell_copy.robot.name
+        assert robot_cell.tool_ids == robot_cell_copy.tool_ids
+        assert robot_cell.rigid_body_ids == robot_cell_copy.rigid_body_ids
+
+        robot_cell_state_copy = deepcopy(robot_cell_state)
+        assert robot_cell_state.tool_ids == robot_cell_state_copy.tool_ids
+        assert robot_cell_state.rigid_body_ids == robot_cell_state_copy.rigid_body_ids
 
-    robot_cell_state_copy = deepcopy(robot_cell_state)
-    assert robot_cell_state.tool_ids == robot_cell_state_copy.tool_ids
-    assert robot_cell_state.rigid_body_ids == robot_cell_state_copy.rigid_body_ids
+    test(*ur10e_gripper_one_beam)
+    test(*abb_irb4600_40_255_gripper_one_beam)
+    test(*abb_irb4600_40_255_printing_tool)
 
 
-if __name__ == "__main__":
-    test_copy_robot()
+# TODO: test remaining functions within RobotCell