Merge pull request #2 from pollen-robotics/1-add-pytest-on-commit

added pytest on commit

Author: Drenayaz

.github/workflows/pytest.yml

@@ -0,0 +1,36 @@
+name: Pytest
+
+on: [pull_request]
+
+jobs:
+  tests:
+
+    runs-on: ubuntu-22.04
+
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.10"
+          cache: 'pip' # caching pip dependencies
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install .[dev]
+      - name: Unit tests
+        run: |
+          coverage run -m pytest -m noplaco
+          coverage xml
+          coverage json
+          coverage html
+      - name: Archive code coverage html report
+        uses: actions/upload-artifact@v4
+        with:
+          name: code-coverage-report
+          path: htmlcov
+      - name: Get Cover 
+        uses: orgoro/[email protected]
+        with:
+          coverageFile: coverage.xml
+          token: ${{ secrets.GITHUB_TOKEN }}

setup.cfg

@@ -52,4 +52,6 @@ plugins = numpy.typing.mypy_plugin
 explicit_package_bases = True
 
 [tool:pytest]
-testpaths = tests
+testpaths = tests
+markers = 
+    noplaco: tests that do not require placo    

src/example/movement_test.py

@@ -1,14 +1,14 @@
 from pathlib import Path
-from typing import List
 
 import numpy as np
+import numpy.typing as npt
 from reachy_placo.ik_reachy_placo import IKReachyQP
 
 from reachy2_symbolic_ik.symbolic_ik import SymbolicIK
 from reachy2_symbolic_ik.utils import go_to_position
 
 
-def make_movement_test(symbolic_ik: SymbolicIK, placo_ik: IKReachyQP, goal_pose: List[List[float]]) -> None:
+def make_movement_test(symbolic_ik: SymbolicIK, placo_ik: IKReachyQP, goal_pose: npt.NDArray[np.float64]) -> None:
     result = symbolic_ik.is_reachable(goal_pose)
     if result[0]:
         print(int((result[1][1] - result[1][0]) * 50))
@@ -24,10 +24,10 @@ def make_movement_test(symbolic_ik: SymbolicIK, placo_ik: IKReachyQP, goal_pose:
 def make_line(
     symbolic_ik: SymbolicIK,
     placo_ik: IKReachyQP,
-    start_position: List[float],
-    end_position: List[float],
-    start_orientation: List[float],
-    end_orientation: List[float],
+    start_position: npt.NDArray[np.float64],
+    end_position: npt.NDArray[np.float64],
+    start_orientation: npt.NDArray[np.float64],
+    end_orientation: npt.NDArray[np.float64],
     nb_points: int = 100,
 ) -> None:
     x = np.linspace(start_position[0], end_position[0], nb_points)
@@ -72,10 +72,10 @@ def main_test() -> None:
     # goal_pose = [goal_position, goal_orientation]
     # make_movement_test(symbolib_ik, placo_ik, goal_pose)
 
-    start_position = [0.4, 0.1, -0.4]
-    end_position = [0.3, -0.2, -0.1]
-    start_orientation = [0.35, -1.40, 0.17]
-    end_orientation = [0.0, -0.0, 0.0]
+    start_position = np.array([0.4, 0.1, -0.4])
+    end_position = np.array([0.3, -0.2, -0.1])
+    start_orientation = np.array([0.35, -1.40, 0.17])
+    end_orientation = np.array([0.0, -0.0, 0.0])
     make_line(symbolic_ik, placo_ik, start_position, end_position, start_orientation, end_orientation, nb_points=300)
 
 

src/example/symbolic_ik_test.py

@@ -1,15 +1,15 @@
 from pathlib import Path
-from typing import List
 
 import numpy as np
+import numpy.typing as npt
 from reachy_placo.ik_reachy_placo import IKReachyQP
 from scipy.spatial.transform import Rotation as R
 
 from reachy2_symbolic_ik.symbolic_ik import SymbolicIK
 from reachy2_symbolic_ik.utils import go_to_position
 
 
-def are_joints_correct(placo_ik: IKReachyQP, joints: List[float], goal_pose: List[List[float]]) -> bool:
+def are_joints_correct(placo_ik: IKReachyQP, joints: npt.NDArray[np.float64], goal_pose: npt.NDArray[np.float64]) -> bool:
     go_to_position(placo_ik, joints, wait=0)
     T_torso_tip = placo_ik.robot.get_T_a_b("torso", "r_tip_joint")
     position = T_torso_tip[:3, 3]
@@ -51,7 +51,7 @@ def main_test() -> None:
 
     goal_position = [0.4, 0.1, -0.4]
     goal_orientation = [np.radians(20), np.radians(-80), np.radians(10)]
-    goal_pose = [goal_position, goal_orientation]
+    goal_pose = np.array([goal_position, goal_orientation])
     result = symbolib_ik.is_reachable(goal_pose)
     if result[0]:
         joints = result[2](result[1][0])