feat: adding webots dynamic scenario tests (#231)

* feat: adding webots dynamic simulation, tbd tested

* feat: Adding functional webots tests

* fix: reformatting with black and isort and deleting unnecessary files

* fix: improving code coverage

* fix: black formatting test_webots.py

* Adding codecov yml updates from main branch

* fix: also including tests directory to ignore for coverage, not relevant

* fix: adding checks for environment variables

* fix: adjusting fixture call

* fix: adding webots extension

* fix: adding batch option to avoid popups

* Add timeout to Webots dynamic test

---------

Co-authored-by: Armando Bañuelos <[email protected]>
Co-authored-by: Ubuntu <[email protected]>
Co-authored-by: Armando Banuelos <[email protected]>
Co-authored-by: Armando Banuelos <[email protected]>
Co-authored-by: Lola Marrero <[email protected]>

Author: 6 people

tests/conftest.py

@@ -51,6 +51,17 @@ def loader(relpath, **kwargs):
     return loader
 
 
+@pytest.fixture
+def launchWebots():
+    DISPLAY = os.environ.get("DISPLAY")
+    if not DISPLAY:
+        pytest.skip("DISPLAY env variable not set.")
+    WEBOTS_ROOT = os.environ.get("WEBOTS_ROOT")
+    if not WEBOTS_ROOT:
+        pytest.skip("WEBOTS_ROOT env variable not set.")
+    return WEBOTS_ROOT
+
+
 ## Command-line options
 
 

tests/simulators/webots/dynamic/dynamic.scenic

@@ -0,0 +1,27 @@
+"""
+Create a Webots cube in air and have it drop
+"""
+
+model scenic.simulators.webots.model
+
+class Floor(Object):
+    width: 5
+    length: 5
+    height: 0.01
+    position: (0,0,0)
+    color: [0.785, 0.785, 0.785]
+
+class Block(WebotsObject):
+    webotsAdhoc: {'physics': True}
+    shape: BoxShape()
+    width: 0.2
+    length: 0.2
+    height: 0.2
+    density: 100
+    color: [1, 0.502, 0]
+
+floor = new Floor
+ego = new Block at (0, 0, 0.5) #above floor by 0.5
+
+terminate when ego.z < 0.1
+record (ego.z) as BlockPosition

tests/simulators/webots/dynamic/webots_data/controllers/scenic_supervisor/scenic_supervisor.py

@@ -0,0 +1,30 @@
+import os
+
+from controller import Supervisor
+
+import scenic
+from scenic.simulators.webots import WebotsSimulator
+
+WEBOTS_RESULT_FILE_PATH = f"{os.path.dirname(__file__)}/../../../results.txt"
+
+
+def send_results(data):
+    with open(WEBOTS_RESULT_FILE_PATH, "w") as file:
+        file.write(data)
+
+
+supervisor = Supervisor()
+simulator = WebotsSimulator(supervisor)
+
+path = supervisor.getCustomData()
+print(f"Loading Scenic scenario {path}")
+scenario = scenic.scenarioFromFile(path)
+
+scene, _ = scenario.generate()
+simulation = simulator.simulate(scene, verbosity=2)
+block_movements = simulation.result.records["BlockPosition"]
+first_block_movement = block_movements[0]
+last_block_movement = block_movements[-1]
+blocks = [first_block_movement, last_block_movement]
+supervisor.simulationQuit(status="finished")
+send_results(str(blocks))

tests/simulators/webots/dynamic/webots_data/protos/ScenicObject.proto

@@ -0,0 +1,28 @@
+#VRML_SIM R2023a utf8
+
+PROTO ScenicObject [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString name "solid"
+  field SFVec3f angularVelocity 0 0 0
+  field MFString url ""
+]
+{
+  Solid {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    angularVelocity IS angularVelocity
+    children [
+      CadShape {
+        url IS url
+        castShadows FALSE
+      }
+    ]
+    boundingObject Shape {
+      geometry Mesh {
+        url IS url
+      }
+    }
+  }
+}

tests/simulators/webots/dynamic/webots_data/protos/ScenicObjectWithPhysics.proto

@@ -0,0 +1,34 @@
+#VRML_SIM R2023a utf8
+
+PROTO ScenicObjectWithPhysics [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString name "solid"
+  field SFVec3f angularVelocity 0 0 0
+  field MFString url ""
+  field SFFloat density 1000 # kg / m^3
+]
+{
+  Solid {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    angularVelocity IS angularVelocity
+    children [
+      CadShape {
+        url IS url
+        castShadows FALSE
+      }
+    ]
+    boundingObject Shape {
+      geometry Mesh {
+        url IS url
+      }
+    }
+    physics Physics {
+      # density will be set by the simulator
+      density IS density
+      mass -1
+    }
+  }
+}

tests/simulators/webots/dynamic/webots_data/worlds/world.wbt

@@ -0,0 +1,34 @@
+#VRML_SIM R2023a utf8
+
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto"
+IMPORTABLE EXTERNPROTO "../protos/ScenicObject.proto"
+IMPORTABLE EXTERNPROTO "../protos/ScenicObjectWithPhysics.proto"
+
+WorldInfo {
+  gravity 3
+  basicTimeStep 16
+  contactProperties [
+    ContactProperties {
+      coulombFriction [
+        0.8
+      ]
+    }
+  ]
+}
+Viewpoint {
+  orientation -0.19729161510865992 0.07408415124219735 0.977541588446517 2.4380019050245862
+  position 6.683615307234937 -5.5006366813466805 4.16419445995153
+}
+TexturedBackground {
+}
+Floor {
+  name "FLOOR"
+  size 5 5
+}
+Robot {
+  name "Supervisor"
+  controller "scenic_supervisor"
+  customData "../../../dynamic.scenic"
+  supervisor TRUE
+}

tests/simulators/webots/test_webots.py

@@ -1,7 +1,50 @@
+import os
+import subprocess
+
 import pytest
 
 from tests.utils import pickle_test, sampleScene, tryPickling
 
+WEBOTS_RESULTS_FILE_PATH = f"{os.path.dirname(__file__)}/dynamic/results.txt"
+WEBOTS_WORLD_FILE_PATH = (
+    f"{os.path.dirname(__file__)}/dynamic/webots_data/worlds/world.wbt"
+)
+
+
+def receive_results():
+    with open(WEBOTS_RESULTS_FILE_PATH, "r") as file:
+        content = file.read()
+    return content
+
+
+def cleanup_results():
+    command = f"rm -f {WEBOTS_RESULTS_FILE_PATH}"
+    subprocess.run(command, shell=True)
+
+
+def test_dynamics_scenarios(launchWebots):
+    WEBOTS_ROOT = launchWebots
+    cleanup_results()
+
+    timeout_seconds = 300
+    
+    command = f"bash {WEBOTS_ROOT}/webots --no-rendering --minimize --batch {WEBOTS_WORLD_FILE_PATH}"
+
+    try:
+        subprocess.run(command, shell=True, timeout=timeout_seconds)
+    except subprocess.TimeoutExpired:
+        pytest.fail(f"Webots test exceeded the timeout of {timeout_seconds} seconds and failed.")
+        
+    data = receive_results()
+    assert data != None
+    start_z = float(data.split(",")[1].strip(" )]"))
+    end_z = float(data.split(",")[3].strip(" )]"))
+    assert start_z == 0.5
+    assert start_z > end_z
+    expected_value = 0.09
+    tolerance = 0.01
+    assert end_z == pytest.approx(expected_value, abs=tolerance)
+
 
 def test_basic(loadLocalScenario):
     scenario = loadLocalScenario("basic.scenic")