From 9c6a8ee4b48a1989c8d628868f8e77b680c64240 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@gmail.com>
Date: Tue, 26 Feb 2019 14:26:07 +0100
Subject: [PATCH] [Test] Standardization
---
.gitlab-ci.yml | 6 +----
CMakeLists.txt | 6 ++++-
Dockerfile | 6 -----
unittest/CMakeLists.txt | 8 +++++++
unittest/test_all.py | 21 ----------------
unittest/test_load.py | 12 +++++++---
unittest/unittest_utils.py | 49 +++++++++++++++++++-------------------
7 files changed, 47 insertions(+), 61 deletions(-)
delete mode 100644 Dockerfile
create mode 100644 unittest/CMakeLists.txt
delete mode 100644 unittest/test_all.py
mode change 100644 => 100755 unittest/test_load.py
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 2a4326f..830ed8f 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,5 +1 @@
-image: gepgitlab.laas.fr:4567/Gepetto/example-robot-data
-
-test:
- script:
- - cd unittest && python test_all.py
+include: http://rainboard.laas.fr/project/example-robot-data/.gitlab-ci.yml
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6a8dc46..20c089d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,15 +1,19 @@
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
INCLUDE(cmake/base.cmake)
+INCLUDE(cmake/test.cmake)
+SET(PROJECT_NAMESPACE gepetto)
SET(PROJECT_NAME example-robot-data)
SET(PROJECT_DESCRIPTION "Set of robot URDFs for benchmarking and developed examples.")
-SET(PROJECT_URL https://gepgitlab.laas.fr/gepetto/${PROJECT_NAME})
+SET(PROJECT_URL https://gepgitlab.laas.fr/${PROJECT_NAMESPACE}/${PROJECT_NAME})
SETUP_PROJECT()
INSTALL(DIRECTORY hyq DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY talos DESTINATION share/${PROJECT_NAME})
+ADD_SUBDIRECTORY(unittest)
+
SETUP_PROJECT_FINALIZE()
diff --git a/Dockerfile b/Dockerfile
deleted file mode 100644
index 772a81b..0000000
--- a/Dockerfile
+++ /dev/null
@@ -1,6 +0,0 @@
-FROM gepgitlab.laas.fr:4567/gepetto/buildfarm/robotpkg-jrl:16.04
-
-RUN apt-get update -qqy \
- && apt-get install -qqy \
- robotpkg-py27-pinocchio \
- && rm -rf /var/lib/apt/lists/*
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
new file mode 100644
index 0000000..82b9b30
--- /dev/null
+++ b/unittest/CMakeLists.txt
@@ -0,0 +1,8 @@
+SET(${PROJECT_NAME}_PYTHON_TESTS
+ load
+ )
+
+FOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
+ ADD_PYTHON_UNIT_TEST("py-${TEST}" "unittest/test_${TEST}.py")
+ENDFOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
+
diff --git a/unittest/test_all.py b/unittest/test_all.py
deleted file mode 100644
index 02564ce..0000000
--- a/unittest/test_all.py
+++ /dev/null
@@ -1,21 +0,0 @@
-import unittest
-import sys
-
-testmodules = [
- 'test_load',
-]
-
-suite = unittest.TestSuite()
-
-for t in testmodules:
- try:
- # If the module defines a suite() function, call it to get the suite.
- mod = __import__(t, globals(), locals(), ['suite'])
- suitefn = getattr(mod, 'suite')
- suite.addTest(suitefn())
- except (ImportError, AttributeError):
- # else, just load all the test cases from the module.
- suite.addTest(unittest.defaultTestLoader.loadTestsFromName(t))
-
-result = unittest.TextTestRunner().run(suite)
-sys.exit(len(result.errors) + len(result.failures))
diff --git a/unittest/test_load.py b/unittest/test_load.py
old mode 100644
new mode 100755
index 5e2a02d..af6ca01
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -1,6 +1,9 @@
-from unittest_utils import loadTalosArm, loadTalos, loadHyQ
+#!/usr/bin/env python2
+
import unittest
+from unittest_utils import loadHyQ, loadTalos, loadTalosArm
+
class RobotTestCase(unittest.TestCase):
ROBOT = None
@@ -16,29 +19,32 @@ class RobotTestCase(unittest.TestCase):
self.assertEqual(model.nv, self.NV, "Wrong nv value.")
def test_q0(self):
- self.assertTrue(hasattr(self.ROBOT, "q0"), "It doesn't have q0")
+ self.assertTrue(hasattr(self.ROBOT, "q0"), "It doesn't have q0")
+
class TalosArmTest(RobotTestCase):
RobotTestCase.ROBOT = loadTalosArm()
RobotTestCase.NQ = 7
RobotTestCase.NV = 7
+
class TalosArmFloatingTest(RobotTestCase):
RobotTestCase.ROBOT = loadTalosArm()
RobotTestCase.NQ = 14
RobotTestCase.NV = 13
+
class TalosTest(RobotTestCase):
RobotTestCase.ROBOT = loadTalos()
RobotTestCase.NQ = 39
RobotTestCase.NV = 38
+
class HyQTest(RobotTestCase):
RobotTestCase.ROBOT = loadHyQ()
RobotTestCase.NQ = 19
RobotTestCase.NV = 18
-
if __name__ == '__main__':
unittest.main()
diff --git a/unittest/unittest_utils.py b/unittest/unittest_utils.py
index d6ec1c6..d6205b0 100644
--- a/unittest/unittest_utils.py
+++ b/unittest/unittest_utils.py
@@ -1,50 +1,50 @@
+import numpy as np
+
import pinocchio
-from pinocchio.utils import *
from pinocchio.robot_wrapper import RobotWrapper
-
def readParamsFromSrdf(robot, SRDF_PATH, verbose):
- rmodel = robot.model
-
- pinocchio.loadRotorParameters(rmodel, SRDF_PATH, verbose)
- rmodel.armature = \
- np.multiply(rmodel.rotorInertia.flat, np.square(rmodel.rotorGearRatio.flat))
- try:
- pinocchio.loadReferenceConfigurations(rmodel, SRDF_PATH, verbose)
- robot.q0.flat[:] = rmodel.referenceConfigurations["half_sitting"].copy()
- except:
- print "loadReferenceConfigurations did not work. Please check your Pinocchio Version"
+ rmodel = robot.model
+
+ pinocchio.loadRotorParameters(rmodel, SRDF_PATH, verbose)
+ rmodel.armature = np.multiply(rmodel.rotorInertia.flat, np.square(rmodel.rotorGearRatio.flat))
try:
- pinocchio.getNeutralConfiguration(rmodel, SRDF_PATH, verbose)
- robot.q0.flat[:] = rmodel.neutralConfiguration.copy()
+ pinocchio.loadReferenceConfigurations(rmodel, SRDF_PATH, verbose)
+ robot.q0.flat[:] = rmodel.referenceConfigurations["half_sitting"].copy()
except:
- robot.q0.flat[:] = pinocchio.neutral(rmodel)
- return
-
+ print("loadReferenceConfigurations did not work. Please check your Pinocchio Version")
+ try:
+ pinocchio.getNeutralConfiguration(rmodel, SRDF_PATH, verbose)
+ robot.q0.flat[:] = rmodel.neutralConfiguration.copy()
+ except:
+ robot.q0.flat[:] = pinocchio.neutral(rmodel)
+ return
+
+
def loadTalosArm(modelPath='/opt/openrobots/share/example-robot-data'):
URDF_FILENAME = "talos_left_arm.urdf"
URDF_SUBPATH = "/talos/" + URDF_FILENAME
SRDF_FILENAME = "talos.srdf"
SRDF_SUBPATH = "/talos/" + SRDF_FILENAME
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath])
+ robot = RobotWrapper(modelPath + URDF_SUBPATH, [modelPath])
# Load SRDF file
- readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False)
return robot
+
def loadTalos(modelPath='/opt/openrobots/share/example-robot-data'):
URDF_FILENAME = "talos_reduced.urdf"
SRDF_FILENAME = "talos.srdf"
SRDF_SUBPATH = "/talos/" + SRDF_FILENAME
URDF_SUBPATH = "/talos/" + URDF_FILENAME
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file
- readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
- assert((robot.model.armature[:6]==0.).all())
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False)
+ assert ((robot.model.armature[:6] == 0.).all())
return robot
@@ -53,8 +53,7 @@ def loadHyQ(modelPath='/opt/openrobots/share/example-robot-data'):
import os
URDF_FILENAME = "hyq_no_sensors.urdf"
URDF_SUBPATH = "/hyq/" + URDF_FILENAME
- robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# TODO define default position inside srdf
robot.q0.flat[7:] = [-0.2, 0.75, -1.5, -0.2, -0.75, 1.5, -0.2, 0.75, -1.5, -0.2, -0.75, 1.5]
robot.q0[2] = 0.57750958
--
GitLab