CICD: Isolate loader tests in submodules

Merge remaining loader tests to the description test fixture.

Author: stephane-caron

CHANGELOG.md

@@ -49,6 +49,7 @@ All notable changes to this project will be documented in this file.
 
 ### Changed
 
+- CICD: Isolate loader tests in testing submodules
 - CICD: Update checkout actions to v4
 - Update MuJoCo Menagerie repository commit
 - Update eDO description repository

tests/__init__.py

@@ -7,13 +7,11 @@
 from .test_clone_to_cache import TestCloneToCache
 from .test_clone_to_directory import TestCloneToDirectory
 from .test_descriptions import TestDescriptions
-from .test_loaders import TestLoaders
 from .test_progress_bar import TestProgressBar
 
 __all__ = [
     "TestCloneToCache",
     "TestCloneToDirectory",
     "TestDescriptions",
-    "TestLoaders",
     "TestProgressBar",
 ]

tests/loaders/test_idyntree.py

@@ -7,15 +7,24 @@
 import unittest
 
 from robot_descriptions._descriptions import DESCRIPTIONS
+from robot_descriptions.loaders.idyntree import (
+    load_robot_description as load_idyntree,
+)
 
-from robot_descriptions.loaders.idyntree import load_robot_description
 
 class TestiDynTree(unittest.TestCase):
-
     """
     Check that all descriptions are loaded properly in iDynTree.
     """
 
+    def test_idyntree(self):
+        self.assertIsNotNone(
+            load_idyntree(
+                "upkie_description",
+                commit="98502d5b175c3d6b60b3cf475b7eeef9fd290c43",
+            )
+        )
+
     @staticmethod
     def get_test_for_description(description: str):
         """
@@ -29,10 +38,11 @@ def get_test_for_description(description: str):
         """
 
         def test(self):
-            load_robot_description(description)
+            load_idyntree(description)
 
         return test
 
+
 # Add a test function for each URDF description
 for name, description in DESCRIPTIONS.items():
     if description.has_urdf:

tests/loaders/test_mujoco.py

@@ -7,15 +7,19 @@
 import unittest
 
 from robot_descriptions._descriptions import DESCRIPTIONS
-from robot_descriptions.loaders.mujoco import load_robot_description
+from robot_descriptions.loaders.mujoco import (
+    load_robot_description as load_mujoco,
+)
 
 
 class TestMuJoCo(unittest.TestCase):
-
     """
     Check that all MJCF descriptions are loaded properly in MuJoCo.
     """
 
+    def test_mujoco(self):
+        self.assertIsNotNone(load_mujoco("cassie_mj_description"))
+
     @staticmethod
     def get_test_for_description(description: str):
         """
@@ -29,7 +33,7 @@ def get_test_for_description(description: str):
         """
 
         def test(self):
-            load_robot_description(description)
+            load_mujoco(description)
 
         return test
 

tests/loaders/test_pinocchio.py

@@ -7,14 +7,24 @@
 import unittest
 
 from robot_descriptions._descriptions import DESCRIPTIONS
-from robot_descriptions.loaders.pinocchio import load_robot_description
+from robot_descriptions.loaders.pinocchio import (
+    load_robot_description as load_pinocchio,
+)
 
 
 class TestPinocchio(unittest.TestCase):
     """
     Check that all descriptions are loaded properly in Pinocchio.
     """
 
+    def test_pinocchio(self):
+        self.assertIsNotNone(
+            load_pinocchio(
+                "upkie_description",
+                commit="98502d5b175c3d6b60b3cf475b7eeef9fd290c43",
+            )
+        )
+
     @staticmethod
     def get_test_for_description(description: str):
         """
@@ -28,7 +38,7 @@ def get_test_for_description(description: str):
         """
 
         def test(self):
-            load_robot_description(description)
+            load_pinocchio(description)
 
         return test
 

tests/loaders/test_pybullet.py

@@ -9,12 +9,12 @@
 import pybullet
 
 from robot_descriptions._descriptions import DESCRIPTIONS
-
-from robot_descriptions.loaders.pybullet import load_robot_description
+from robot_descriptions.loaders.pybullet import (
+    load_robot_description as load_pybullet,
+)
 
 
 class TestPyBullet(unittest.TestCase):
-
     """
     Check that all descriptions are loaded properly in PyBullet.
     """
@@ -31,12 +31,22 @@ def tearDown(self):
         """
         pybullet.disconnect()
 
+    def test_pybullet(self):
+        pybullet.connect(pybullet.DIRECT)
+        self.assertIsNotNone(
+            load_pybullet(
+                "upkie_description",
+                commit="98502d5b175c3d6b60b3cf475b7eeef9fd290c43",
+            )
+        )
+        pybullet.disconnect()
+
     def test_value_error_when_no_urdf(self):
         """
         Test exception raised when a description has no URDF_PATH.
         """
         with self.assertRaises(ValueError):
-            load_robot_description("_empty_description")
+            load_pybullet("_empty_description")
 
     @staticmethod
     def get_test_for_description(description: str):
@@ -51,7 +61,7 @@ def get_test_for_description(description: str):
         """
 
         def test(self):
-            load_robot_description(description)
+            load_pybullet(description)
 
         return test
 

tests/loaders/test_robomeshcat.py

@@ -7,15 +7,24 @@
 import unittest
 
 from robot_descriptions._descriptions import DESCRIPTIONS
-from robot_descriptions.loaders.robomeshcat import load_robot_description
+from robot_descriptions.loaders.robomeshcat import (
+    load_robot_description as load_robomeshcat,
+)
 
 
 class TestRoboMeshCat(unittest.TestCase):
-
     """
     Check that all descriptions are loaded properly in RoboMeshCat.
     """
 
+    def test_robomeshcat(self):
+        self.assertIsNotNone(
+            load_robomeshcat(
+                "upkie_description",
+                commit="98502d5b175c3d6b60b3cf475b7eeef9fd290c43",
+            )
+        )
+
     @staticmethod
     def get_test_for_description(description: str):
         """
@@ -29,7 +38,7 @@ def get_test_for_description(description: str):
         """
 
         def test(self):
-            load_robot_description(description)
+            load_robomeshcat(description)
 
         return test
 

tests/loaders/test_yourdfpy.py

@@ -7,15 +7,24 @@
 import unittest
 
 from robot_descriptions._descriptions import DESCRIPTIONS
-from robot_descriptions.loaders.yourdfpy import load_robot_description
+from robot_descriptions.loaders.yourdfpy import (
+    load_robot_description as load_yourdfpy,
+)
 
 
 class TestYourdfpy(unittest.TestCase):
-
     """
     Check that all URDF descriptions are loaded properly in yourdfpy.
     """
 
+    def test_yourdfpy(self):
+        self.assertIsNotNone(
+            load_yourdfpy(
+                "upkie_description",
+                commit="98502d5b175c3d6b60b3cf475b7eeef9fd290c43",
+            )
+        )
+
     @staticmethod
     def get_test_for_description(description: str):
         """
@@ -29,7 +38,7 @@ def get_test_for_description(description: str):
         """
 
         def test(self):
-            load_robot_description(description)
+            load_yourdfpy(description)
 
         return test
 

tests/test_descriptions.py

@@ -12,6 +12,9 @@
 import git
 
 from robot_descriptions._descriptions import DESCRIPTIONS
+from robot_descriptions.loaders.pinocchio import (
+    load_robot_description as load_pinocchio,
+)
 
 
 class TestDescriptions(unittest.TestCase):
@@ -46,6 +49,13 @@ def test_all_descriptions(self):
                     f"in {description}",
                 )
 
+    def test_cache_path_package_name(self):
+        """Check a description with package:// URIs and a custom commit ID."""
+        load_pinocchio(
+            "draco3_description",
+            commit="5afd19733d7b3e9f1135ba93e0aad90ed1a24cc7",
+        )
+
     def test_invalid_description_commit(self):
         invalid_commit = "foobar"
         os.environ["ROBOT_DESCRIPTION_COMMIT"] = invalid_commit
@@ -55,3 +65,11 @@ def test_invalid_description_commit(self):
             if description_name in sys.modules:
                 del sys.modules[description_name]
             import_module(description_name)
+
+    def test_load_with_commit_then_without(self):
+        # https://github.com/robot-descriptions/robot_descriptions.py/issues/67
+        load_pinocchio(
+            "draco3_description",
+            commit="5afd19733d7b3e9f1135ba93e0aad90ed1a24cc7",
+        )
+        load_pinocchio("baxter_description")