Merge pull request #24 from ami-iit/feature/ci

Add Continuous Integration test on parsing URDF models

.github/workflows/ci_cd.yml

@@ -50,42 +50,104 @@ jobs:
           name: dist
 
   test:
-    name: 'Python${{ matrix.python }}@${{ matrix.os }}'
+    name: 'Python${{ matrix.python }}@${{ matrix.type }}@${{ matrix.os }}'
     needs: package
     runs-on: ${{ matrix.os }}
+    defaults:
+      run:
+        shell: bash -el {0}
     strategy:
       fail-fast: false
       matrix:
         os:
           - ubuntu-22.04
           - macos-latest
           - windows-latest
+        type:
+          - apt
+          - conda
         python:
           - "3.8"
           - "3.9"
           - "3.10"
           - "3.11"
+        exclude:
+          - os: macos-latest
+            type: apt
+          - os: windows-latest
+            type: apt
 
     steps:
 
       - name: Set up Python
+        if: matrix.type == 'apt'
         uses: actions/setup-python@v4
         with:
           python-version: ${{ matrix.python }}
 
+      - uses: conda-incubator/setup-miniconda@v2
+        if: matrix.type == 'conda'
+        with:
+          python-version: ${{ matrix.python }}
+          miniforge-variant: Mambaforge
+          miniforge-version: latest
+          channels: conda-forge
+          channel-priority: true
+
+      - name: Install system dependencies
+        if: matrix.type == 'apt'
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y --no-install-recommends gazebo
+          # Remove following line as soon as iDynTree is available on Python 3.11:
+          pip install --pre idyntree
+
+      - name: Install conda dependencies
+        if: matrix.type == 'conda'
+        run: |
+          mamba install -y \
+            coloredlogs \
+            mashumaro \
+            numpy \
+            packaging \
+            scipy \
+            xmltodict \
+            black \
+            isort \
+            pptree \
+            idyntree \
+            pytest \
+            robot_descriptions
+            # pytest-icdiff \  # creates problems on macOS
+          mamba install -y gz-sim7 idyntree
+
       - name: Download Python packages
         uses: actions/download-artifact@v3
         with:
           path: dist
           name: dist
 
-      - name: Install wheel
-        shell: bash
-        run: pip install dist/*.whl
+      - name: Install wheel (apt)
+        if: matrix.type == 'apt'
+        run: pip install "$(find dist/ -type f -name '*.whl')[all]"
+
+      - name: Install wheel (conda)
+        if: matrix.type == 'conda'
+        run: pip install --no-deps "$(find dist/ -type f -name '*.whl')[all]"
+
+      - name: Pip check
+        run: pip check
 
       - name: Import the package
         run: python -c "import rod"
 
+      - uses: actions/checkout@v3
+        if: matrix.os != 'windows-latest'
+
+      - name: Run tests
+        if: matrix.os != 'windows-latest'
+        run: pytest
+
   publish:
     name: Publish to PyPI
     needs: test

setup.cfg

@@ -68,9 +68,19 @@ style =
     isort
 pptree =
     pptree
+test =
+    idyntree
+    pytest
+    pytest-icdiff
+    robot-descriptions
 all =
     %(style)s
     %(pptree)s
+    %(test)s
 
 [options.packages.find]
 where = src
+
+[tool:pytest]
+addopts = -rsxX -v --strict-markers
+testpaths = tests

tests/test_urdf_parsing.py

@@ -0,0 +1,114 @@
+import pytest
+import robot_descriptions
+import robot_descriptions.loaders.idyntree
+from utils_models import ModelFactory, Robot
+
+import rod
+
+
+@pytest.mark.parametrize(
+    "robot",
+    [
+        Robot.iCub,
+        Robot.DoublePendulum,
+        Robot.Cassie,
+        Robot.Ur10,
+        Robot.AtlasV4,
+        Robot.Ergocub,
+    ],
+)
+def test_urdf_parsing(robot: Robot) -> None:
+    """Test parsing URDF files."""
+
+    # Get the path to the URDF
+    urdf_path = ModelFactory.get_model_description(robot=robot)
+
+    # Check that it fails if is_urdf=False and the resource is a path
+    with pytest.raises(RuntimeError):
+        _ = rod.Sdf.load(sdf=urdf_path, is_urdf=False)
+
+    # Check that it fails if is_urdf=False and the resource is a path string
+    with pytest.raises(RuntimeError):
+        _ = rod.Sdf.load(sdf=str(urdf_path), is_urdf=False)
+
+    # Check that it fails if is_urdf=False and the resource is an urdf string
+    with pytest.raises(RuntimeError):
+        _ = rod.Sdf.load(sdf=urdf_path.read_text(), is_urdf=False)
+
+    # Check that it fails if is_urdf=False and the resource is an urdf string
+    with pytest.raises(RuntimeError):
+        _ = rod.Sdf.load(sdf=urdf_path.read_text(), is_urdf=None)
+
+    # The following instead should succeed
+    _ = rod.Sdf.load(sdf=urdf_path, is_urdf=None)
+    _ = rod.Sdf.load(sdf=urdf_path, is_urdf=True)
+    _ = rod.Sdf.load(sdf=str(urdf_path), is_urdf=None)
+    _ = rod.Sdf.load(sdf=str(urdf_path), is_urdf=True)
+    _ = rod.Sdf.load(sdf=urdf_path.read_text(), is_urdf=True)
+
+    # Load once again the urdf
+    rod_sdf = rod.Sdf.load(sdf=urdf_path, is_urdf=True)
+
+    # There should be only one model
+    assert len(rod_sdf.models()) == 1
+    assert rod_sdf.models()[0] == rod_sdf.model
+
+    # Note: when a URDF is loaded into ROD, it gets first converted to SDF by sdformat.
+    # This pre-processing might alter the URDF, especially if fixed joints are present.
+
+    # Load the model in iDynTree (w/o specifying the joints list)
+    idt_model_full = robot_descriptions.loaders.idyntree.load_robot_description(
+        description_name=robot.to_module_name(), joints_list=None
+    )
+
+    # Check the canonical link
+    assert rod_sdf.model.get_canonical_link() == idt_model_full.getLinkName(
+        idt_model_full.getDefaultBaseLink()
+    )
+
+    # Extract data from the ROD model
+    link_names = [l.name for l in rod_sdf.model.links()]
+    joint_names = [j.name for j in rod_sdf.model.joints()]
+    joint_names_dofs = [j.name for j in rod_sdf.model.joints() if j.type != "fixed"]
+
+    # Remove the world joint if the model is fixed-base
+    if rod_sdf.model.is_fixed_base():
+        world_joints = [
+            j.name
+            for j in rod_sdf.model.joints()
+            if j.type == "fixed" and j.parent == "world"
+        ]
+        assert len(world_joints) == 1
+        _ = joint_names.pop(joint_names.index(world_joints[0]))
+        assert _ == world_joints[0]
+
+    # New sdformat versions, after lumping fixed joints, create a new frame called
+    # "<removed_fake_link>_fixed_joint"
+    frame_names = [
+        f.name for f in rod_sdf.model.frames() if not f.name.endswith("_fixed_joint")
+    ]
+
+    # Check the number of DoFs (all non-fixed joints)
+    assert len(joint_names_dofs) == idt_model_full.getNrOfDOFs()
+
+    link_names_idt = [
+        idt_model_full.getLinkName(idx) for idx in range(idt_model_full.getNrOfLinks())
+    ]
+
+    joint_names_idt = [
+        idt_model_full.getJointName(idx)
+        for idx in range(idt_model_full.getNrOfJoints())
+    ]
+
+    # Note: iDynTree also includes sensor frames here, while ROD does not
+    frame_names_idt = [
+        idt_model_full.getFrameName(idx)
+        for idx in range(idt_model_full.getNrOfLinks(), idt_model_full.getNrOfFrames())
+    ]
+
+    assert set(link_names_idt) == set(link_names)
+    assert set(joint_names_idt) == set(joint_names)
+    assert set(frame_names) - set(frame_names_idt) == set()
+
+    total_mass = sum([l.inertial.mass for l in rod_sdf.model.links()])
+    assert total_mass == pytest.approx(idt_model_full.getTotalMass())

tests/utils_models.py

@@ -0,0 +1,60 @@
+import enum
+import importlib
+import pathlib
+from typing import Union
+
+
+class Robot(enum.IntEnum):
+    Hyq = enum.auto()
+    iCub = enum.auto()
+    Ur10 = enum.auto()
+    Baxter = enum.auto()
+    Cassie = enum.auto()
+    Fetch = enum.auto()
+    AtlasV4 = enum.auto()
+    Laikago = enum.auto()
+    AnymalC = enum.auto()
+    Ergocub = enum.auto()
+    Talos = enum.auto()
+    Valkyrie = enum.auto()
+    DoublePendulum = enum.auto()
+    SimpleHumanoid = enum.auto()
+
+    def to_module_name(self) -> str:
+        """"""
+
+        if self is Robot.iCub:
+            return "icub_description"
+
+        # Convert the camelcase robot name to snakecase
+        name_sc = "".join(
+            ["_" + c.lower() if c.isupper() else c for c in self.name]
+        ).lstrip("_")
+
+        return f"{name_sc}_description"
+
+
+class ModelFactory:
+    """Factory class providing URDF files used by the tests."""
+
+    @staticmethod
+    def get_model_description(robot: Union[Robot, str]) -> pathlib.Path:
+        """
+        Get the URDF file of different robots.
+
+        Args:
+            robot: Robot name of the desired URDF file.
+
+        Returns:
+            Path to the URDF file of the robot.
+        """
+
+        module_name = robot if isinstance(robot, str) else robot.to_module_name()
+        module = importlib.import_module(f"robot_descriptions.{module_name}")
+
+        urdf_path = pathlib.Path(module.URDF_PATH)
+
+        if not urdf_path.is_file():
+            raise FileExistsError(f"URDF file '{urdf_path}' does not exist")
+
+        return urdf_path