From 29aa8ea18b142a82151ad39e67b0b0079719680b Mon Sep 17 00:00:00 2001 From: Jeongseok Lee Date: Sun, 17 Mar 2024 11:22:50 -0700 Subject: [PATCH] [test] Enable cone and cylinder tests with ODE --- .github/workflows/ci_macos.yml | 2 +- .github/workflows/ci_ubuntu.yml | 2 +- .github/workflows/ci_windows.yml | 2 +- docker/dev/v6.14/Dockerfile.archlinux | 14 +- pixi.lock | 451 +++++++++++++------------- pixi.toml | 56 ++-- tests/integration/test_Collision.cpp | 4 +- 7 files changed, 272 insertions(+), 259 deletions(-) diff --git a/.github/workflows/ci_macos.yml b/.github/workflows/ci_macos.yml index d0e404566223b..e1e2b7105a9be 100644 --- a/.github/workflows/ci_macos.yml +++ b/.github/workflows/ci_macos.yml @@ -67,4 +67,4 @@ jobs: - name: Test DART and dartpy run: | - pixi run build + pixi run test diff --git a/.github/workflows/ci_ubuntu.yml b/.github/workflows/ci_ubuntu.yml index 581d0b936a49c..78a9d39aa6731 100644 --- a/.github/workflows/ci_ubuntu.yml +++ b/.github/workflows/ci_ubuntu.yml @@ -99,4 +99,4 @@ jobs: - name: Test DART and dartpy run: | - pixi run build + pixi run test diff --git a/.github/workflows/ci_windows.yml b/.github/workflows/ci_windows.yml index a7e74a06568ef..f7c913bd61fc5 100644 --- a/.github/workflows/ci_windows.yml +++ b/.github/workflows/ci_windows.yml @@ -93,4 +93,4 @@ jobs: - name: Test DART and dartpy run: | - pixi run build + pixi run test diff --git a/docker/dev/v6.14/Dockerfile.archlinux b/docker/dev/v6.14/Dockerfile.archlinux index 35a03581fe5ab..2000b4ffddfa5 100644 --- a/docker/dev/v6.14/Dockerfile.archlinux +++ b/docker/dev/v6.14/Dockerfile.archlinux @@ -20,7 +20,6 @@ RUN yay -Syu --needed --noconfirm \ spdlog \ tinyxml2 \ urdfdom -# TODO: ode is removed because the collision test with ODE on arch is failing # ============================================================================== # Python binding dependencies @@ -35,3 +34,16 @@ RUN yay -Syu --needed --noconfirm \ python-setuptools USER root + +# ode +RUN git clone https://bitbucket.org/odedevs/ode.git -b '0.16.4' \ + && mkdir -p ode/build \ + && cmake ode \ + -B ode/build \ + -DCMAKE_BUILD_TYPE=Release \ + -DODE_WITH_TESTS=OFF \ + -DODE_WITH_DEMOS=OFF \ + -DODE_WITH_LIBCCD=ON \ + -DODE_DOUBLE_PRECISION=ON \ + && cmake --build ode/build --target install -j${NUM_CORES} \ + && rm -rf ode diff --git a/pixi.lock b/pixi.lock index ff89c006b89b4..e6630c620185b 100644 --- a/pixi.lock +++ b/pixi.lock @@ -25,7 +25,7 @@ environments: - 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kind: conda name: libssh2 version: 1.11.0 @@ -4812,20 +4798,6 @@ packages: license_family: BSD size: 33601 timestamp: 1680112270483 -- kind: conda - name: libuv - version: 1.47.0 - build: hd590300_0 - subdir: linux-64 - url: https://conda.anaconda.org/conda-forge/linux-64/libuv-1.47.0-hd590300_0.conda - sha256: 53bd8f6bebc85555c5dd648072693e37fcdf777f993e9a108c4a7badf2e8810c - md5: a7a94e1b751a9fe2be88f3934b3a0739 - depends: - - libgcc-ng >=12 - license: MIT - license_family: MIT - size: 892804 - timestamp: 1707450286973 - kind: conda name: libuv version: 1.48.0 @@ -4851,23 +4823,36 @@ packages: size: 405988 timestamp: 1709913494015 - kind: conda - name: libva - version: 2.20.0 + name: libuv + version: 1.48.0 build: hd590300_0 subdir: linux-64 - url: https://conda.anaconda.org/conda-forge/linux-64/libva-2.20.0-hd590300_0.conda - sha256: 972d6f67d854d0f0fc2593f8bddc8d411859437ace7248c374e1a85a9ea9d410 - md5: 933bcea637569c6cea6084957028cb53 + url: https://conda.anaconda.org/conda-forge/linux-64/libuv-1.48.0-hd590300_0.conda + sha256: b7c0e8a0c93c2621be7645b37123d4e8d27e8a974da26a3fba47a9c37711aa7f + md5: 7e8b914b1062dd4386e3de4d82a3ead6 depends: - 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openmp 18.1.1|18.1.1.* license: Apache-2.0 WITH LLVM-exception license_family: APACHE - size: 274631 - timestamp: 1701222947083 + size: 276239 + timestamp: 1710508622050 - kind: conda name: lz4-c version: 1.9.4 diff --git a/pixi.toml b/pixi.toml index 4e0480ca91ddd..6939dfb611655 100644 --- a/pixi.toml +++ b/pixi.toml @@ -9,8 +9,8 @@ platforms = ["linux-64", "osx-64", "osx-arm64", "win-64"] [tasks] clean = "rm -rf build" build-v7 = { cmd= "cmake --build build --target v7 --parallel", depends_on = ["configure"] } -configure_local = { cmd= "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX" } -install_local = { cmd= "cmake --install build --prefix $CONDA_PREFIX", depends_on = ["configure_local", "build"] } +configure-local = { cmd= "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX" } +install-local = { cmd= "cmake --install build --prefix $CONDA_PREFIX", depends_on = ["configure_local", "build"] } [dependencies] assimp = ">=5.3.1,<5.4" @@ -54,17 +54,22 @@ lint = { cmd = "cmake --build build --target format && black . && isort .", depe check-lint = { cmd = "cmake --build build --target check-format && black . --check && isort . --check", depends_on = [ "configure", ] } -build = { cmd = "cmake --build build -j", depends_on = ["configure"] } -build_dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [ +build = { cmd = "cmake --build build -j --target all", depends_on = [ + "configure", +] } +build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [ + "configure", +] } +build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [ "configure", ] } test = { cmd = "ctest --test-dir build --rerun-failed --output-on-failure", depends_on = [ - "build", + "build-tests", ] } -test_dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [ +test-dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [ "configure", ] } -test_all = { cmd = "cmake --build build -j --target ALL", depends_on = [ +test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [ "configure", ] } @@ -79,17 +84,22 @@ lint = { cmd = "cmake --build build --target format && black . && isort .", depe check-lint = { cmd = "cmake --build build --target check-format && black . --check && isort . --check", depends_on = [ "configure", ] } -build = { cmd = "cmake --build build -j", depends_on = ["configure"] } -build_dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [ +build = { cmd = "cmake --build build -j --target all", depends_on = [ + "configure", +] } +build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [ + "configure", +] } +build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [ "configure", ] } test = { cmd = "ctest --test-dir build --rerun-failed --output-on-failure", depends_on = [ - "build", + "build-tests", ] } -test_dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [ +test-dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [ "configure", ] } -test_all = { cmd = "cmake --build build -j --target ALL", depends_on = [ +test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [ "configure", ] } @@ -105,16 +115,19 @@ check-lint = { cmd = "cmake --build build --target check-format && black . --che "configure", ] } build = { cmd = "cmake --build build -j", depends_on = ["configure"] } -build_dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [ +build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [ + "configure", +] } +build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [ "configure", ] } test = { cmd = "ctest --test-dir build --rerun-failed --output-on-failure", depends_on = [ - "build", + "build-tests", ] } -test_dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [ +test-dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [ "configure", ] } -test_all = { cmd = "cmake --build build -j --target ALL", depends_on = [ +test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [ "configure", ] } @@ -133,16 +146,19 @@ check-lint = { cmd = "black . --check && isort . --check", depends_on = [ build = { cmd = "cmake --build build --config Release -j", depends_on = [ "configure", ] } -build_dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [ +build-tests = { cmd = "cmake --build build --config Release -j --target tests", depends_on = [ + "configure", +] } +build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [ "configure", ] } test = { cmd = "ctest --test-dir build --build-config Release --rerun-failed --output-on-failure", depends_on = [ - "build", + "build-tests", ] } -test_dartpy = { cmd = "cmake --build build --config Release -j --target pytest", depends_on = [ +test-dartpy = { cmd = "cmake --build build --config Release -j --target pytest", depends_on = [ "configure", ] } -test_all = { cmd = "cmake --build build --config Release -j --target ALL", depends_on = [ +test-all = { cmd = "cmake --build build --config Release -j --target ALL", depends_on = [ "configure", ] } diff --git a/tests/integration/test_Collision.cpp b/tests/integration/test_Collision.cpp index c2537f6c0a654..01be87a7ca006 100644 --- a/tests/integration/test_Collision.cpp +++ b/tests/integration/test_Collision.cpp @@ -740,7 +740,7 @@ void testCylinderCylinder(const std::shared_ptr& cd) } //============================================================================== -TEST_F(Collision, DISABLED_testCylinderCylinder) +TEST_F(Collision, testCylinderCylinder) { auto fcl_mesh_dart = FCLCollisionDetector::create(); fcl_mesh_dart->setPrimitiveShapeType(FCLCollisionDetector::MESH); @@ -811,7 +811,7 @@ void testConeCone(const std::shared_ptr& cd) } //============================================================================== -TEST_F(Collision, DISABLED_testConeCone) +TEST_F(Collision, testConeCone) { auto fcl_mesh_dart = FCLCollisionDetector::create(); fcl_mesh_dart->setPrimitiveShapeType(FCLCollisionDetector::MESH);