test(models): add smoke test that every DH/URDF/ETS model constructs

tests/test_models.py

@@ -142,6 +142,61 @@ def test_pr2(self):
         rp.models.PR2()
 
 
+class TestModelSmoke(unittest.TestCase):
+    """Generic smoke test: every model exported from DH/URDF/ETS must
+    construct with no arguments.
+
+    The tests above are hand-written per model, so a model can be added to
+    __all__ and never get a dedicated test -- Valkyrie, Fetch, KinovaGen3,
+    FetchCamera and LBR all sat with zero test coverage this way, three of
+    them silently broken (see tech-debt.md for details/history). Iterating
+    __all__ directly means newly-added models are covered automatically.
+    """
+
+    # (category, class name) pairs known to currently fail to construct.
+    # Remove an entry once its underlying issue is actually fixed -- if you
+    # don't, this test starts failing for the *opposite* reason (a listed
+    # failure unexpectedly started passing).
+    EXPECTED_FAILURES = {
+        # Bundled rtb-data xacro tree names this directory "kuka_lbr_iiwa",
+        # but the xacro file's own $(find kuka_lbr_iiwa_support) expects
+        # the "_support" suffix -- needs an rtb-data rename + republish.
+        # See tech-debt.md, "rtb-data" section.
+        ("URDF", "LBR"),
+    }
+
+    def test_all_models_construct(self):
+        unexpected_failures = []
+        unexpected_passes = []
+
+        for category_name in ("DH", "URDF", "ETS"):
+            category = getattr(rp.models, category_name)
+            for name in category.__all__:
+                cls = getattr(category, name)
+                key = (category_name, name)
+                try:
+                    cls()
+                except Exception as e:
+                    if key not in self.EXPECTED_FAILURES:
+                        unexpected_failures.append(
+                            f"{category_name}.{name}: {type(e).__name__}: {e}"
+                        )
+                else:
+                    if key in self.EXPECTED_FAILURES:
+                        unexpected_passes.append(f"{category_name}.{name}")
+
+        if unexpected_failures:
+            self.fail(
+                "Model(s) failed to construct:\n" + "\n".join(unexpected_failures)
+            )
+        if unexpected_passes:
+            self.fail(
+                "Model(s) in EXPECTED_FAILURES now construct successfully -- "
+                "remove from EXPECTED_FAILURES (and close out the matching "
+                "tech-debt.md entry):\n" + "\n".join(unexpected_passes)
+            )
+
+
 if __name__ == "__main__":  # pragma nocover
     unittest.main()
     # pytest.main(['tests/test_SerialLink.py'])