Implement the unit test for the iDynTree loader

Author: GiulioRomualdi

.github/workflows/test.yml

@@ -65,7 +65,7 @@ jobs:
         strategy:
             matrix:
                 python-version: ["3.8"]
-                loader: ["mujoco", "pinocchio", "pybullet", "robomeshcat", "yourdfpy"]
+                loader: ["mujoco", "pinocchio", "pybullet", "robomeshcat", "yourdfpy", "idyntree"]
 
         steps:
             - name: "Checkout sources"

tests/loaders/test_idyntree.py

@@ -0,0 +1,54 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+# Copyright 2022 Giulio Romualdi
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+
+from robot_descriptions._descriptions import DESCRIPTIONS
+
+from robot_descriptions.loaders.idyntree import load_robot_description
+
+class TestiDynTree(unittest.TestCase):
+
+    """
+    Check that all descriptions are loaded properly in iDynTree.
+    """
+
+    @staticmethod
+    def get_test_for_description(description: str):
+        """
+        Get test function for a given description.
+
+        Args:
+            description: Name of the description.
+
+        Returns:
+            Test function for that description.
+        """
+
+        def test(self):
+            load_robot_description(description)
+
+        return test
+
+# Add a test function for each URDF description
+for name, description in DESCRIPTIONS.items():
+    if description.has_urdf:
+        setattr(
+            TestiDynTree,
+            f"test_{name}",
+            TestiDynTree.get_test_for_description(name),
+        )

tests/test_loaders.py

@@ -34,7 +34,9 @@
 from robot_descriptions.loaders.yourdfpy import (
     load_robot_description as load_yourdfpy,
 )
-
+from robot_descriptions.loaders.idyntree import (
+    load_robot_description as load_idyntree,
+)
 
 class TestLoaders(unittest.TestCase):
 
@@ -58,3 +60,6 @@ def test_robomeshcat(self):
 
     def test_yourdfpy(self):
         self.assertIsNotNone(load_yourdfpy("upkie_description"))
+
+    def test_idyntree(self):
+        self.assertIsNotNone(load_idyntree("upkie_description"))

tox.ini

@@ -1,6 +1,6 @@
 [tox]
 isolated_build = True
-envlist = coverage,lint,loader-{mujoco,pinocchio,pybullet,robomeshcat,yourdfpy}
+envlist = coverage,lint,loader-{mujoco,pinocchio,pybullet,robomeshcat,yourdfpy,idyntree}
 
 [gh-actions]
 python =
@@ -14,6 +14,7 @@ deps =
     coverage
     mujoco >=2.2.1
     pin >=2.6.10
+    idyntree >= 5.0.1
     pybullet >=3.2.5
     robomeshcat >= 1.0.4
     yourdfpy >=0.0.52
@@ -30,6 +31,7 @@ deps =
     mujoco >=2.2.1
     mypy
     pin >=2.6.10
+    idyntree >= 5.0.1
     pybullet >=3.2.5
     pylint
     robomeshcat >= 1.0.4
@@ -78,6 +80,13 @@ deps =
 commands =
     pytest --import-mode=importlib tests/loaders/test_yourdfpy.py
 
+[testenv:loader-idyntree]
+deps =
+    pytest
+    idyntree >= 5.0.1
+commands =
+    pytest --import-mode=importlib tests/loaders/test_idyntree.py
+
 [flake8]
 max-line-length = 88