rod 0.2.1.dev33__tar.gz → 0.2.1.dev45__tar.gz

{rod-0.2.1.dev33 → rod-0.2.1.dev45}/.github/workflows/ci_cd.yml

@@ -20,12 +20,12 @@ jobs:
 
     steps:
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
       - name: Set up Python
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: "3.*"
 
@@ -50,7 +50,7 @@ jobs:
           python -c "import packaging.version as v; v.Version(\"$(python -m setuptools_scm)\")"
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           path: dist/*
           name: dist
@@ -73,10 +73,9 @@ jobs:
           - apt
           - conda
         python:
-          - "3.8"
-          - "3.9"
           - "3.10"
           - "3.11"
+          - "3.12"
         exclude:
           - os: macos-latest
             type: apt
@@ -87,15 +86,14 @@ jobs:
 
       - name: Set up Python
         if: matrix.type == 'apt'
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python }}
 
-      - uses: conda-incubator/setup-miniconda@v2
+      - uses: conda-incubator/setup-miniconda@v3
         if: matrix.type == 'conda'
         with:
           python-version: ${{ matrix.python }}
-          miniforge-variant: Mambaforge
           miniforge-version: latest
           channels: conda-forge
           channel-priority: true
@@ -112,14 +110,16 @@ jobs:
 
       - name: Install conda dependencies
         if: matrix.type == 'conda'
+        # Note: pytest-icdiff creates problems on macOS.
         run: |
-          mamba install -y \
+          conda install -y \
             coloredlogs \
             mashumaro \
             numpy \
             packaging \
             resolve-robotics-uri-py \
             scipy \
+            trimesh \
             xmltodict \
             black \
             isort \
@@ -127,12 +127,11 @@ jobs:
             idyntree \
             pytest \
             robot_descriptions \
-            trimesh
-            # pytest-icdiff \  # creates problems on macOS
-          mamba install -y gz-sim7 idyntree
+            libgz-tools2 \
+            libsdformat13
 
       - name: Download Python packages
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
           path: dist
           name: dist
@@ -150,13 +149,15 @@ jobs:
 
       - name: Import the package
         run: python -c "import rod"
+        env:
+          ROD_LOGGING_LEVEL: DEBUG
 
-      - uses: actions/checkout@v3
-        if: matrix.os != 'windows-latest'
+      - uses: actions/checkout@v4
 
       - name: Run tests
-        if: matrix.os != 'windows-latest'
         run: pytest
+        env:
+          ROD_LOGGING_LEVEL: DEBUG
 
   publish:
     name: Publish to PyPI
@@ -166,7 +167,7 @@ jobs:
     steps:
 
       - name: Download Python packages
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
           path: dist
           name: dist

{rod-0.2.1.dev33 → rod-0.2.1.dev45}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: rod
-Version: 0.2.1.dev33
+Version: 0.2.1.dev45
 Summary: The ultimate Python tool for RObot Descriptions processing.
 Home-page: https://github.com/ami-iit/rod
 Author: Diego Ferigo
@@ -22,14 +22,13 @@ Classifier: Operating System :: POSIX :: Linux
 Classifier: Operating System :: MacOS
 Classifier: Operating System :: Microsoft :: Windows
 Classifier: Programming Language :: Python :: 3
-Classifier: Programming Language :: Python :: 3.8
-Classifier: Programming Language :: Python :: 3.9
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
 Classifier: Programming Language :: Python :: 3 :: Only
 Classifier: Programming Language :: Python :: Implementation :: CPython
 Classifier: Topic :: Games/Entertainment :: Simulation
-Requires-Python: >=3.8
+Requires-Python: >=3.10
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: coloredlogs
@@ -82,39 +81,71 @@ Last but not least, the pose semantics also makes SDF aware of the concept of _f
 
 ## Features
 
-- Out-of-the-box support of SDFormat specifications [≥ 1.7][sdformat_spec_17]
-- Serialization and deserialization support of SDF files
-- In-memory layout based on `dataclasses`
-- Syntax highlighting and auto-completion
-- Support of programmatic creation of SDF files from Python APIs
-- Transitive support of URDF through conversion to SDF[^urdf_to_sdf]
-- Type validation of elements and attributes
-- Automatic check of missing required elements
-- Based on [`Fatal1ty/mashumaro`][mashumaro] for great serialization and deserialization performance
-- Support of exporting the in-memory model description to URDF
+- Out-of-the-box support for SDFormat specifications [≥ 1.10][sdformat_spec_110].
+- Serialization and deserialization support for SDF files.
+- In-memory layout based on `dataclasses`.
+- Syntax highlighting and auto-completion.
+- Programmatic creation of SDF files from Python APIs.
+- Transitive support for URDF through conversion to SDF.
+- Type validation of elements and attributes.
+- Automatic check of missing required elements.
+- High-performance serialization and deserialization using [`Fatal1ty/mashumaro`][mashumaro].
+- Export in-memory model description to URDF.
 
 [mashumaro]: https://github.com/Fatal1ty/mashumaro
 [open_robotics]: https://www.openrobotics.org/
 [pose_semantics]: http://sdformat.org/tutorials?tut=pose_frame_semantics_proposal&cat=pose_semantics_docs&
 [sdformat]: http://sdformat.org/
 [sdformat_python]: http://sdformat.org/tutorials?tut=python_bindings&cat=developers&
-[sdformat_repo]: https://github.com/gazebosim/sdformat
 [sdformat_spec]: http://sdformat.org/spec
-[sdformat_spec_17]: http://sdformat.org/spec?elem=sdf&ver=1.7
+[sdformat_spec_110]: http://sdformat.org/spec?elem=sdf&ver=1.10
 [urdf]: http://wiki.ros.org/urdf
 
-[^urdf_to_sdf]: Conversion can be done either using `ign sdf` included in Ignition Gazebo Fortress, or `gz sdf` included in Gazebo Sim starting from Garden.
+[^urdf_to_sdf]: Conversion can be done using the `gz sdf` command included in Gazebo Sim starting from Garden.
 
 ## Installation
 
-You can install the project with [`pypa/pip`][pip], preferably in a [virtual environment][venv]:
+> [!TIP]
+> ROD does not support out-of-the-box URDF files.
+> URDF support is obtained by converting URDF files to SDF using the `gz sdf` command provided by [sdformat][sdformat_repo] and [gz-tools][gz-tools_repo].
+> Ensure these tools are installed on your system if URDF support is needed (more information below).
+
+[sdformat_repo]: https://github.com/gazebosim/sdformat
+[gz-tools_repo]: https://github.com/gazebosim/gz-tools
+
+<details>
+<summary>Using conda (recommended)</summary>
+
+Installing ROD using `conda` is the recommended way to obtain a complete installation with out-of-the-box support for both URDF and SDF descriptions:
 
 ```bash
-pip install git+https://github.com/ami-iit/rod
+conda install rod -c conda-forge
 ```
 
+This will automatically install `sdformat` and `gz-tools`. 
+
+</details>
+
+<details>
+<summary>Using pip</summary>
+
+You can install ROD from PyPI with [`pypa/pip`][pip], preferably in a [virtual environment][venv]:
+
+```bash
+pip install rod[all]
+```
+
+If you need URDF support, follow the [official instructions][gazebo_sim_docs] to install Gazebo Sim on your operating system,
+making sure to obtain `sdformat ≥ 13.0` and `gz-tools ≥ 2.0`.
+
+You don't need to install the entire Gazebo Sim suite.
+For example, on Ubuntu, you can only install the `libsdformat13 gz-tools2` packages.
+
 [pip]: https://github.com/pypa/pip/
-[venv]: https://docs.python.org/3.8/tutorial/venv.html
+[venv]: https://docs.python.org/3.10/tutorial/venv.html
+[gazebo_sim_docs]: https://gazebosim.org/docs
+
+</details>
 
 ## Examples
 
@@ -225,10 +256,8 @@ print(sdf.serialize(pretty=True))
 
 from rod.urdf.exporter import UrdfExporter
 
-urdf_string = UrdfExporter.sdf_to_urdf_string(
-    sdf=sdf,
-    pretty=True,
-    gazebo_preserve_fixed_joints=True,
+urdf_string = UrdfExporter(pretty=True, gazebo_preserve_fixed_joints=True).to_urdf_string(
+    sdf=sdf
 )
 
 print(urdf_string)

{rod-0.2.1.dev33 → rod-0.2.1.dev45}/README.md

@@ -21,39 +21,71 @@ Last but not least, the pose semantics also makes SDF aware of the concept of _f
 
 ## Features
 
-- Out-of-the-box support of SDFormat specifications [≥ 1.7][sdformat_spec_17]
-- Serialization and deserialization support of SDF files
-- In-memory layout based on `dataclasses`
-- Syntax highlighting and auto-completion
-- Support of programmatic creation of SDF files from Python APIs
-- Transitive support of URDF through conversion to SDF[^urdf_to_sdf]
-- Type validation of elements and attributes
-- Automatic check of missing required elements
-- Based on [`Fatal1ty/mashumaro`][mashumaro] for great serialization and deserialization performance
-- Support of exporting the in-memory model description to URDF
+- Out-of-the-box support for SDFormat specifications [≥ 1.10][sdformat_spec_110].
+- Serialization and deserialization support for SDF files.
+- In-memory layout based on `dataclasses`.
+- Syntax highlighting and auto-completion.
+- Programmatic creation of SDF files from Python APIs.
+- Transitive support for URDF through conversion to SDF.
+- Type validation of elements and attributes.
+- Automatic check of missing required elements.
+- High-performance serialization and deserialization using [`Fatal1ty/mashumaro`][mashumaro].
+- Export in-memory model description to URDF.
 
 [mashumaro]: https://github.com/Fatal1ty/mashumaro
 [open_robotics]: https://www.openrobotics.org/
 [pose_semantics]: http://sdformat.org/tutorials?tut=pose_frame_semantics_proposal&cat=pose_semantics_docs&
 [sdformat]: http://sdformat.org/
 [sdformat_python]: http://sdformat.org/tutorials?tut=python_bindings&cat=developers&
-[sdformat_repo]: https://github.com/gazebosim/sdformat
 [sdformat_spec]: http://sdformat.org/spec
-[sdformat_spec_17]: http://sdformat.org/spec?elem=sdf&ver=1.7
+[sdformat_spec_110]: http://sdformat.org/spec?elem=sdf&ver=1.10
 [urdf]: http://wiki.ros.org/urdf
 
-[^urdf_to_sdf]: Conversion can be done either using `ign sdf` included in Ignition Gazebo Fortress, or `gz sdf` included in Gazebo Sim starting from Garden.
+[^urdf_to_sdf]: Conversion can be done using the `gz sdf` command included in Gazebo Sim starting from Garden.
 
 ## Installation
 
-You can install the project with [`pypa/pip`][pip], preferably in a [virtual environment][venv]:
+> [!TIP]
+> ROD does not support out-of-the-box URDF files.
+> URDF support is obtained by converting URDF files to SDF using the `gz sdf` command provided by [sdformat][sdformat_repo] and [gz-tools][gz-tools_repo].
+> Ensure these tools are installed on your system if URDF support is needed (more information below).
+
+[sdformat_repo]: https://github.com/gazebosim/sdformat
+[gz-tools_repo]: https://github.com/gazebosim/gz-tools
+
+<details>
+<summary>Using conda (recommended)</summary>
+
+Installing ROD using `conda` is the recommended way to obtain a complete installation with out-of-the-box support for both URDF and SDF descriptions:
 
 ```bash
-pip install git+https://github.com/ami-iit/rod
+conda install rod -c conda-forge
 ```
 
+This will automatically install `sdformat` and `gz-tools`. 
+
+</details>
+
+<details>
+<summary>Using pip</summary>
+
+You can install ROD from PyPI with [`pypa/pip`][pip], preferably in a [virtual environment][venv]:
+
+```bash
+pip install rod[all]
+```
+
+If you need URDF support, follow the [official instructions][gazebo_sim_docs] to install Gazebo Sim on your operating system,
+making sure to obtain `sdformat ≥ 13.0` and `gz-tools ≥ 2.0`.
+
+You don't need to install the entire Gazebo Sim suite.
+For example, on Ubuntu, you can only install the `libsdformat13 gz-tools2` packages.
+
 [pip]: https://github.com/pypa/pip/
-[venv]: https://docs.python.org/3.8/tutorial/venv.html
+[venv]: https://docs.python.org/3.10/tutorial/venv.html
+[gazebo_sim_docs]: https://gazebosim.org/docs
+
+</details>
 
 ## Examples
 
@@ -164,10 +196,8 @@ print(sdf.serialize(pretty=True))
 
 from rod.urdf.exporter import UrdfExporter
 
-urdf_string = UrdfExporter.sdf_to_urdf_string(
-    sdf=sdf,
-    pretty=True,
-    gazebo_preserve_fixed_joints=True,
+urdf_string = UrdfExporter(pretty=True, gazebo_preserve_fixed_joints=True).to_urdf_string(
+    sdf=sdf
 )
 
 print(urdf_string)

{rod-0.2.1.dev33 → rod-0.2.1.dev45}/setup.cfg

@@ -37,10 +37,9 @@ classifiers =
 	Operating System :: MacOS
 	Operating System :: Microsoft :: Windows
 	Programming Language :: Python :: 3
-	Programming Language :: Python :: 3.8
-	Programming Language :: Python :: 3.9
 	Programming Language :: Python :: 3.10
 	Programming Language :: Python :: 3.11
+	Programming Language :: Python :: 3.12
 	Programming Language :: Python :: 3 :: Only
 	Programming Language :: Python :: Implementation :: CPython
 	Topic :: Games/Entertainment :: Simulation
@@ -50,7 +49,7 @@ zip_safe = False
 packages = find:
 package_dir = 
 	=src
-python_requires = >=3.8
+python_requires = >=3.10
 install_requires = 
 	coloredlogs
 	mashumaro

{rod-0.2.1.dev33 → rod-0.2.1.dev45}/src/rod/__init__.py

@@ -28,7 +28,7 @@ from .utils.frame_convention import FrameConvention
 # ===============================
 
 
-def _is_editable():
+def installation_is_editable():
     """
     Check if the rod package is installed in editable mode.
     """
@@ -51,12 +51,41 @@ def _is_editable():
     return rod_package_dir not in site.getsitepackages()
 
 
-# Initialize the logging verbosity depending on the installation mode.
-logging.configure(
-    level=logging.LoggingLevel.DEBUG if _is_editable() else logging.LoggingLevel.WARNING
-)
+def get_default_logging_level(env_var: str) -> logging.LoggingLevel:
+    """
+    Get the default logging level.
+
+    Args:
+        env_var: The environment variable to check.
+
+    Returns:
+        The logging level to set.
+    """
+
+    import os
+
+    # Define the default logging level depending on the installation mode.
+    default_logging_level = (
+        logging.LoggingLevel.DEBUG
+        if installation_is_editable()
+        else logging.LoggingLevel.WARNING
+    )
+
+    # Allow to override the default logging level with an environment variable.
+    try:
+        return logging.LoggingLevel[
+            os.environ.get(env_var, default_logging_level.name).upper()
+        ]
+    except KeyError as exc:
+        msg = f"Invalid logging level defined in {env_var}='{os.environ[env_var]}'"
+        raise RuntimeError(msg) from exc
+
+
+# Configure the logger with the default logging level.
+logging.configure(level=get_default_logging_level(env_var="ROD_LOGGING_LEVEL"))
 
-del _is_editable
+del installation_is_editable
+del get_default_logging_level
 
 # =====================================
 # Check for compatible sdformat version

{rod-0.2.1.dev33 → rod-0.2.1.dev45}/src/rod.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: rod
-Version: 0.2.1.dev33
+Version: 0.2.1.dev45
 Summary: The ultimate Python tool for RObot Descriptions processing.
 Home-page: https://github.com/ami-iit/rod
 Author: Diego Ferigo
@@ -22,14 +22,13 @@ Classifier: Operating System :: POSIX :: Linux
 Classifier: Operating System :: MacOS
 Classifier: Operating System :: Microsoft :: Windows
 Classifier: Programming Language :: Python :: 3
-Classifier: Programming Language :: Python :: 3.8
-Classifier: Programming Language :: Python :: 3.9
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
 Classifier: Programming Language :: Python :: 3 :: Only
 Classifier: Programming Language :: Python :: Implementation :: CPython
 Classifier: Topic :: Games/Entertainment :: Simulation
-Requires-Python: >=3.8
+Requires-Python: >=3.10
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: coloredlogs
@@ -82,39 +81,71 @@ Last but not least, the pose semantics also makes SDF aware of the concept of _f
 
 ## Features
 
-- Out-of-the-box support of SDFormat specifications [≥ 1.7][sdformat_spec_17]
-- Serialization and deserialization support of SDF files
-- In-memory layout based on `dataclasses`
-- Syntax highlighting and auto-completion
-- Support of programmatic creation of SDF files from Python APIs
-- Transitive support of URDF through conversion to SDF[^urdf_to_sdf]
-- Type validation of elements and attributes
-- Automatic check of missing required elements
-- Based on [`Fatal1ty/mashumaro`][mashumaro] for great serialization and deserialization performance
-- Support of exporting the in-memory model description to URDF
+- Out-of-the-box support for SDFormat specifications [≥ 1.10][sdformat_spec_110].
+- Serialization and deserialization support for SDF files.
+- In-memory layout based on `dataclasses`.
+- Syntax highlighting and auto-completion.
+- Programmatic creation of SDF files from Python APIs.
+- Transitive support for URDF through conversion to SDF.
+- Type validation of elements and attributes.
+- Automatic check of missing required elements.
+- High-performance serialization and deserialization using [`Fatal1ty/mashumaro`][mashumaro].
+- Export in-memory model description to URDF.
 
 [mashumaro]: https://github.com/Fatal1ty/mashumaro
 [open_robotics]: https://www.openrobotics.org/
 [pose_semantics]: http://sdformat.org/tutorials?tut=pose_frame_semantics_proposal&cat=pose_semantics_docs&
 [sdformat]: http://sdformat.org/
 [sdformat_python]: http://sdformat.org/tutorials?tut=python_bindings&cat=developers&
-[sdformat_repo]: https://github.com/gazebosim/sdformat
 [sdformat_spec]: http://sdformat.org/spec
-[sdformat_spec_17]: http://sdformat.org/spec?elem=sdf&ver=1.7
+[sdformat_spec_110]: http://sdformat.org/spec?elem=sdf&ver=1.10
 [urdf]: http://wiki.ros.org/urdf
 
-[^urdf_to_sdf]: Conversion can be done either using `ign sdf` included in Ignition Gazebo Fortress, or `gz sdf` included in Gazebo Sim starting from Garden.
+[^urdf_to_sdf]: Conversion can be done using the `gz sdf` command included in Gazebo Sim starting from Garden.
 
 ## Installation
 
-You can install the project with [`pypa/pip`][pip], preferably in a [virtual environment][venv]:
+> [!TIP]
+> ROD does not support out-of-the-box URDF files.
+> URDF support is obtained by converting URDF files to SDF using the `gz sdf` command provided by [sdformat][sdformat_repo] and [gz-tools][gz-tools_repo].
+> Ensure these tools are installed on your system if URDF support is needed (more information below).
+
+[sdformat_repo]: https://github.com/gazebosim/sdformat
+[gz-tools_repo]: https://github.com/gazebosim/gz-tools
+
+<details>
+<summary>Using conda (recommended)</summary>
+
+Installing ROD using `conda` is the recommended way to obtain a complete installation with out-of-the-box support for both URDF and SDF descriptions:
 
 ```bash
-pip install git+https://github.com/ami-iit/rod
+conda install rod -c conda-forge
 ```
 
+This will automatically install `sdformat` and `gz-tools`. 
+
+</details>
+
+<details>
+<summary>Using pip</summary>
+
+You can install ROD from PyPI with [`pypa/pip`][pip], preferably in a [virtual environment][venv]:
+
+```bash
+pip install rod[all]
+```
+
+If you need URDF support, follow the [official instructions][gazebo_sim_docs] to install Gazebo Sim on your operating system,
+making sure to obtain `sdformat ≥ 13.0` and `gz-tools ≥ 2.0`.
+
+You don't need to install the entire Gazebo Sim suite.
+For example, on Ubuntu, you can only install the `libsdformat13 gz-tools2` packages.
+
 [pip]: https://github.com/pypa/pip/
-[venv]: https://docs.python.org/3.8/tutorial/venv.html
+[venv]: https://docs.python.org/3.10/tutorial/venv.html
+[gazebo_sim_docs]: https://gazebosim.org/docs
+
+</details>
 
 ## Examples
 
@@ -225,10 +256,8 @@ print(sdf.serialize(pretty=True))
 
 from rod.urdf.exporter import UrdfExporter
 
-urdf_string = UrdfExporter.sdf_to_urdf_string(
-    sdf=sdf,
-    pretty=True,
-    gazebo_preserve_fixed_joints=True,
+urdf_string = UrdfExporter(pretty=True, gazebo_preserve_fixed_joints=True).to_urdf_string(
+    sdf=sdf
 )
 
 print(urdf_string)

{rod-0.2.1.dev33 → rod-0.2.1.dev45}/tests/test_meshbuilder.py

@@ -1,5 +1,3 @@
-import os
-import pathlib
 import tempfile
 
 import numpy as np
@@ -9,53 +7,70 @@ from rod.builder.primitives import MeshBuilder
 
 
 def test_builder_creation():
+
+    # Create a mesh of a box primitive.
     mesh = trimesh.creation.box([1, 1, 1])
 
-    # Temporary write to file because rod Mesh works with uri
-    with tempfile.NamedTemporaryFile(suffix=".stl") as fp:
-        mesh.export(fp.name, file_type="stl")
+    # Temporary write to file because rod Mesh works with uri.
+    with tempfile.TemporaryDirectory() as tmp:
+        with tempfile.NamedTemporaryFile(suffix=".stl", dir=tmp, delete=False) as fp:
+
+            mesh.export(fp.name, file_type="stl")
+            fp.close()
+
+            builder = MeshBuilder(
+                name="test_mesh",
+                mesh_path=fp.name,
+                mass=1.0,
+                scale=np.array([1.0, 1.0, 1.0]),
+            )
 
-        builder = MeshBuilder(
-            name="test_mesh",
-            mesh_path=fp.name,
-            mass=1.0,
-            scale=np.array([1.0, 1.0, 1.0]),
-        )
     assert (
         builder.mesh.vertices.shape == mesh.vertices.shape
     ), f"{builder.mesh.vertices.shape} != {mesh.vertices.shape}"
+
     assert (
         builder.mesh.faces.shape == mesh.faces.shape
     ), f"{builder.mesh.faces.shape} != {mesh.faces.shape}"
+
     assert (
         builder.mesh.moment_inertia.all() == mesh.moment_inertia.all()
     ), f"{builder.mesh.moment_inertia} != {mesh.moment_inertia}"
+
     assert builder.mesh.volume == mesh.volume, f"{builder.mesh.volume} != {mesh.volume}"
 
 
 def test_builder_creation_custom_mesh():
+
     # Create a custom mesh
     vertices = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0], [0, 0, 1]])
     faces = np.array([[0, 1, 2], [0, 2, 3]])
     mesh = trimesh.Trimesh(vertices=vertices, faces=faces)
 
-    # Temporary write to file because rod Mesh works with uri
-    with tempfile.NamedTemporaryFile(suffix=".stl") as fp:
-        mesh.export(fp.name, file_type="stl")
+    # Temporary write to file because rod Mesh works with uri.
+    with tempfile.TemporaryDirectory() as tmp:
+        with tempfile.NamedTemporaryFile(suffix=".stl", dir=tmp, delete=False) as fp:
+
+            mesh.export(fp.name, file_type="stl")
+            fp.close()
+
+            builder = MeshBuilder(
+                name="test_mesh",
+                mesh_path=fp.name,
+                mass=1.0,
+                scale=np.array([1.0, 1.0, 1.0]),
+            )
 
-        builder = MeshBuilder(
-            name="test_mesh",
-            mesh_path=fp.name,
-            mass=1.0,
-            scale=np.array([1.0, 1.0, 1.0]),
-        )
     assert (
         builder.mesh.vertices.shape == mesh.vertices.shape
     ), f"{builder.mesh.vertices.shape} != {mesh.vertices.shape}"
+
     assert (
         builder.mesh.faces.shape == mesh.faces.shape
     ), f"{builder.mesh.faces.shape} != {mesh.faces.shape}"
+
     assert (
         builder.mesh.moment_inertia.all() == mesh.moment_inertia.all()
     ), f"{builder.mesh.moment_inertia} != {mesh.moment_inertia}"
+
     assert builder.mesh.volume == mesh.volume, f"{builder.mesh.volume} != {mesh.volume}"