python: Add WITH_SDFORMAT flag in Python binding and only run SDF test when this flag is defined

Author: jorisv

bindings/python/utils/dependencies.cpp

@@ -40,6 +40,13 @@ namespace pinocchio
 #else
         false;
 #endif
+
+      bp::scope().attr("WITH_SDFORMAT") =
+#ifdef PINOCCHIO_WITH_SDFORMAT
+        true;
+#else
+        false;
+#endif
     }
 
   } // namespace python

unittest/python/robot_wrapper.py

@@ -57,13 +57,15 @@ def test_urdf_with_root_joint_and_root_joint_name(self):
         )
         self.assertEqual(robot.model.names[1], name_)
 
+    @unittest.skipUnless(pin.WITH_SDFORMAT, "Needs SDFORMAT")
     def test_sdf_with_root_joint(self):
         model_path = os.path.abspath(
             os.path.join(self.current_file, "../../models/simple_humanoid.sdf")
         )
         robot = pin.RobotWrapper.BuildFromSDF(model_path, [], pin.JointModelFreeFlyer())
         self.assertEqual(robot.model.names[1], "root_joint")
 
+    @unittest.skipUnless(pin.WITH_SDFORMAT, "Needs SDFORMAT")
     def test_sdf_with_root_joint_and_root_joint_name(self):
         model_path = os.path.abspath(
             os.path.join(self.current_file, "../../models/simple_humanoid.sdf")