Ci

.github/workflows/pycram-ci.yml

@@ -0,0 +1,88 @@
+name: CI standalone
+defaults:
+  run:
+    shell: bash -ieo pipefail {0}
+on:
+  push:
+    branches:
+      - dev
+      - master
+  pull_request:
+    branches:
+      - master
+      - dev
+jobs:
+  Build_and_run_Tests:
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Checkout pycram
+        uses: actions/checkout@v3
+        with:
+          path: 'ros_ws/src/pycram'
+          repository: ${{github.repository}}
+          ref: ${{github.ref}}
+          submodules: recursive
+
+      - name: Checkout iai_maps
+        uses: actions/checkout@v3
+        with:
+          path: 'ros_ws/src/iai_maps'
+          repository: code-iai/iai_maps
+          ref: master
+      - name: Checkout iai_robots
+        uses: actions/checkout@v3
+        with:
+          path: 'ros_ws/src/iai_robots'
+          repository: code-iai/iai_robots
+          ref: master
+      - name: Checkout pr2_common
+        uses: actions/checkout@v3
+        with:
+          path: 'ros_ws/src/pr2_common'
+          repository: PR2/pr2_common
+          ref: master
+      - name: Checkout kdl_ik_service
+        uses: actions/checkout@v3
+        with:
+          path: 'ros_ws/src/kdl_ik_service'
+          repository: cram2/kdl_ik_service
+          ref: master
+      - name: Checkout pr2_kinematics
+        uses: actions/checkout@v3
+        with:
+          path: 'ros_ws/src/pr2_kinematics'
+          repository: PR2/pr2_kinematics
+          ref: kinetic-devel
+      - name: install ros and deps
+        uses: betwo/github-setup-catkin@master
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        with:
+          # Version range or exact version of ROS version to use, using SemVer's version range syntax.
+          ros-version: noetic
+          build-tool: 'catkin_tools'
+          # Root directory of the catkin workspace
+          workspace: $GITHUB_WORKSPACE/ros_ws
+      - name: build and source workspace
+        run: |
+          cd ros_ws
+          catkin_make
+          echo 'export ROS_HOSTNAME=localhost' >> ~/.bashrc
+          echo 'source $GITHUB_WORKSPACE/ros_ws/devel/setup.bash' >> ~/.bashrc
+      - name: Install requirements
+        run: |
+          cd $GITHUB_WORKSPACE/ros_ws/src/pycram
+          sudo pip3 install -r requirements.txt
+      - name: upgrade numpy
+        run: |
+          sudo pip3 install --upgrade numpy
+      - name: install additional requirements
+        run: |
+          sudo pip3 install pytest pyjpt mlflow
+      - name: start roscore
+        run: |
+          roslaunch pycram ik_and_description.launch &
+      - name: Run Tests
+        run: |
+          roscd pycram
+          pytest -v test

launch/ik_and_description.launch

@@ -9,8 +9,7 @@
     <include file="$(find pr2_arm_kinematics)/launch/pr2_ik_larm_node.launch"/>
     <include file="$(find pr2_arm_kinematics)/launch/pr2_ik_rarm_node.launch"/>
     <param name="robot_description"
-           command="$(find xacro)/xacro
-                    '$(find pr2_description)/robots/pr2.urdf.xacro'"/>
+           textfile="$(find pycram)/resources/pr2.urdf"/>
   </group>
   <!-- Boxy -->
   <group if="$(eval robot == 'boxy')">

requirements.txt

@@ -4,12 +4,14 @@ rospkg~=1.4.0
 roslibpy~=1.2.1
 # rospy~=1.14.11
 pathlib~=1.0.1
-numpy~=1.19.5
+numpy~=1.22.2
 pytransform3d~=1.9.1
 # tf~=1.12.1
 # actionlib~=1.12.1
 urdf-parser-py~=0.0.3
 graphviz
 anytree>=2.8.0
 SQLAlchemy>=2.0.9
-
+tqdm==4.66.1
+psutil==5.9.7
+lxml==4.5.1

src/pycram/bullet_world.py

@@ -408,7 +408,7 @@ def __enter__(self):
     def __exit__(self, *args):
         if not self.prev_world == None:
             BulletWorld.current_bullet_world = self.prev_world
-            BulletWorld.current_bullet_world.world_sync.pause_sync = False
+        BulletWorld.current_bullet_world.world_sync.pause_sync = False
 
 
 class WorldSync(threading.Thread):

src/pycram/orm/base.py

@@ -1,5 +1,6 @@
 """Implementation of base classes for orm modelling."""
 import datetime
+import getpass
 import os
 from typing import Optional
 
@@ -136,7 +137,7 @@ class ProcessMetaData(MappedAsDataclass, _Base):
                                                           init=False)
     """The timestamp where this row got created. This is an aid for versioning."""
 
-    created_by: Mapped[str] = mapped_column(default=os.getlogin(), init=False)
+    created_by: Mapped[str] = mapped_column(default=getpass.getuser(), init=False)
     """The user that created the experiment."""
 
     description: Mapped[str] = mapped_column(init=False)

test/bullet_world_testcase.py

@@ -0,0 +1,43 @@
+import unittest
+
+import numpy as np
+import rospkg
+
+from pycram.bullet_world import BulletWorld, Object, fix_missing_inertial
+from pycram.pose import Pose
+from pycram.robot_descriptions import robot_description
+from pycram.process_module import ProcessModule
+from pycram.enums import ObjectType
+import os
+import tf
+
+
+class BulletWorldTestCase(unittest.TestCase):
+
+    world: BulletWorld
+
+    @classmethod
+    def setUpClass(cls):
+        cls.world = BulletWorld("DIRECT")
+        cls.robot = Object(robot_description.name, ObjectType.ROBOT, robot_description.name + ".urdf")
+        cls.kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
+        cls.milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([1.3, 1, 0.9]))
+        cls.cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl", pose=Pose([1.3, 0.7, 0.95]))
+        ProcessModule.execution_delay = False
+
+    def setUp(self):
+        self.world.reset_bullet_world()
+
+    # DO NOT WRITE TESTS HERE!!!
+    # Test related to the BulletWorld should be written in test_bullet_world.py
+    # Tests in here would not be properly executed in the CI
+
+    def tearDown(self):
+        self.world.reset_bullet_world()
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.world.exit()
+
+
+

test/local_transformer_tests.py

@@ -7,10 +7,10 @@
 from src.pycram.local_transformer import LocalTransformer
 from pycram.robot_descriptions import robot_description
 from pycram.pose import Pose, Transform
-import test_bullet_world
+import bullet_world_testcase
 
 
-class TestLocalTransformer(test_bullet_world.BulletWorldTest):
+class TestLocalTransformer(test_bullet_world.BulletWorldTestCase):
 
     def test_singelton(self):
         l1 = LocalTransformer()

test/test_action_designator.py

@@ -6,11 +6,11 @@
 from pycram.pose import Pose
 from pycram.enums import ObjectType
 import pycram.enums
-import test_bullet_world
+from bullet_world_testcase import BulletWorldTestCase
 import numpy as np
 
 
-class TestActionDesignatorGrounding(test_bullet_world.BulletWorldTest):
+class TestActionDesignatorGrounding(BulletWorldTestCase):
     """Testcase for the grounding methods of action designators."""
 
     def test_move_torso(self):

test/test_bullet_world.py

@@ -1,31 +1,15 @@
 import unittest
 
-import numpy as np
-from pycram.bullet_world import BulletWorld, Object, fix_missing_inertial
+import rospkg
+
+from bullet_world_testcase import BulletWorldTestCase
 from pycram.pose import Pose
-from pycram.robot_descriptions import robot_description
-from pycram.process_module import ProcessModule
-from pycram.enums import ObjectType
-import os
+import numpy as np
+from pycram.bullet_world import fix_missing_inertial
 import xml.etree.ElementTree as ET
-import tf
-
-
-class BulletWorldTest(unittest.TestCase):
 
-    world: BulletWorld
 
-    @classmethod
-    def setUpClass(cls):
-        cls.world = BulletWorld("DIRECT")
-        cls.robot = Object(robot_description.name, ObjectType.ROBOT, robot_description.name + ".urdf")
-        cls.kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
-        cls.milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([1.3, 1, 0.9]))
-        cls.cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl", pose=Pose([1.3, 0.7, 0.95]))
-        ProcessModule.execution_delay = False
-
-    def setUp(self):
-        self.world.reset_bullet_world()
+class BulletWorldTest(BulletWorldTestCase):
 
     def test_object_movement(self):
         self.milk.set_position(Pose([0, 1, 1]))
@@ -38,21 +22,18 @@ def test_robot_orientation(self):
         self.robot.set_orientation(Pose(orientation=[0, 0, 1, 1]))
         self.assertEqual(self.robot.get_link_position('head_pan_link').z, head_position)
 
-    def tearDown(self):
-        self.world.reset_bullet_world()
-
-    @classmethod
-    def tearDownClass(cls):
-        cls.world.exit()
-
 
 class XMLTester(unittest.TestCase):
 
     def setUp(self) -> None:
-        self.urdf_string = open(os.path.join("..", "resources", "pr2.urdf"), "r").read()
+        rospack = rospkg.RosPack()
+        filename = rospack.get_path('pycram') + '/resources/' + 'pr2.urdf'
+        with open(filename, "r") as f:
+            self.urdf_string = f.read()
 
     def test_inertial(self):
         result = fix_missing_inertial(self.urdf_string)
         resulting_tree = ET.ElementTree(ET.fromstring(result))
         for element in resulting_tree.iter("link"):
             self.assertTrue(len([*element.iter("inertial")]) > 0)
+

test/test_bullet_world_reasoning.py

@@ -1,12 +1,12 @@
 import time
 
-from test_bullet_world import BulletWorldTest
+from bullet_world_testcase import BulletWorldTestCase
 import pycram.bullet_world_reasoning as btr
 from pycram.pose import Pose
 from pycram.robot_descriptions import robot_description
 
 
-class TestBulletWorldReasoning(BulletWorldTest):
+class TestCaseBulletWorldReasoning(BulletWorldTestCase):
 
     def test_contact(self):
         self.milk.set_pose(Pose([1, 1, 1]))

test/test_costmaps.py

@@ -1,10 +1,10 @@
-from test_bullet_world import BulletWorldTest
+from bullet_world_testcase import BulletWorldTestCase
 from pycram.costmaps import OccupancyCostmap
 from pycram.pose import Pose
 import numpy as np
 
 
-class TestCostmaps(BulletWorldTest):
+class TestCostmapsCase(BulletWorldTestCase):
 
     def test_raytest_bug(self):
         for i in range(30):

test/test_location_designator.py

@@ -5,10 +5,10 @@
 from pycram.process_module import simulated_robot
 from pycram.pose import Pose
 import pycram.enums
-import test_bullet_world
+from bullet_world_testcase import BulletWorldTestCase
 
 
-class TestActionDesignatorGrounding(test_bullet_world.BulletWorldTest):
+class TestActionDesignatorGrounding(BulletWorldTestCase):
 
     def test_reachability(self):
         self.robot.set_joint_state(robot_description.torso_joint, 0.3)

test/test_object_designator.py

@@ -1,10 +1,10 @@
 import unittest
-import test_bullet_world
+from bullet_world_testcase import BulletWorldTestCase
 from pycram.designators.object_designator import *
 from pycram.enums import ObjectType
 
 
-class TestObjectDesignator(test_bullet_world.BulletWorldTest):
+class TestObjectDesignator(BulletWorldTestCase):
 
     def test_object_grounding(self):
         description = ObjectDesignatorDescription(["milk"], [ObjectType.MILK])

test/test_orm.py

@@ -11,7 +11,7 @@
 import pycram.orm.task
 import pycram.task
 import pycram.task
-import test_bullet_world
+from bullet_world_testcase import BulletWorldTestCase
 import test_task_tree
 from pycram.designators import action_designator, object_designator
 from pycram.pose import Pose
@@ -148,7 +148,7 @@ def test_meta_data_alternation(self):
         self.assertEqual(metadata_result.description, "Test")
 
 
-class ORMObjectDesignatorTestCase(test_bullet_world.BulletWorldTest):
+class ORMObjectDesignatorTestCase(BulletWorldTestCase):
     """Test ORM functionality with a plan including object designators. """
 
     engine: sqlalchemy.engine.Engine
@@ -251,7 +251,7 @@ def test_task_tree_node_parents(self):
         self.assertTrue([r[i].parent == r[r[i].parent_id - 1] for i in range(len(r)) if r[i].parent_id is not None])
 
 
-class MotionDesigTest(test_bullet_world.BulletWorldTest):
+class MotionDesigTest(BulletWorldTestCase):
     engine: sqlalchemy.engine.Engine
     session: sqlalchemy.orm.Session
 

test/test_task_tree.py

@@ -4,12 +4,12 @@
 from pycram.task import with_tree
 import unittest
 import anytree
-import test_bullet_world
+from  bullet_world_testcase import BulletWorldTestCase
 import pycram.plan_failures
 from pycram.designators import object_designator, action_designator
 
 
-class TaskTreeTestCase(test_bullet_world.BulletWorldTest):
+class TaskTreeTestCase(BulletWorldTestCase):
 
     @with_tree
     def plan(self):