#Testing

URDF Studio has three test layers:

#Unit tests

Pure node --test against src/core/*. The test file installs the Node CoreIo at the top so xacro expansion, URDF analysis, SRDF parsing all work without a host. Fast (~500ms).

Run alone:

npm run test:unit

#Renderer + web shell

Playwright drives a headless Chromium against the built artifacts.

npm run compile     # build extension + renderer
npm run web:build   # build web app
npx playwright test

Three spec files:

• renderer.spec.ts — feeds a hand-crafted loadRobot message to the renderer in isolation (via the harness in harness.html) and checks the joint slider, render-mode toggle, and canvas output.
• features.spec.ts — joint sliders, frames, inertia toggle, bookmark flow, reachability sampling, collision-pair tool.
• web-shell.spec.ts — the full web app: folder picker via webkitdirectory, file selection, joint manipulation, onboarding tour, blob URL lifecycle.

Each test in web-shell.spec.ts instruments URL.createObjectURL/revokeObjectURL to verify the two-generation cache doesn't leak.

#Real-world smoke test

git clone https://github.com/frankarobotics/franka_description /tmp/franka_description
FRANKA_DIR=/tmp/franka_description node scripts/test-franka.mjs

Loads fr3, fer, and fp3 end-to-end and asserts:

• The xacro expands without errors.
• Every mesh declared in the URDF resolves to a file on disk.
• No console errors during render.
• The canvas paints a non-trivial dataURL.

Override the targets:

FRANKA_TARGETS=fr3v2_1,mobile_fr3_duo_v0_2 node scripts/test-franka.mjs

#CI

.github/workflows/ci.yml runs the unit and Playwright suites on every push and PR. It caches the Playwright browser install and uploads the HTML report on failure.

The Franka smoke test is not in CI (cloning 226 MB on every run is wasteful). Run it locally before merging changes to the mesh URL or xacro pipelines.

#Adding tests

• Pure core change? Add a node --test case in test/unit/core.test.ts.
• Renderer behavior? Add a Playwright test in test/renderer/features.spec.ts using the harness's stub host.
• End-to-end change? Add to test/renderer/web-shell.spec.ts.

For fixtures: small URDFs go under test/fixtures/. The xacro fixture and the leak-test pair are good templates.