Test MJCF descriptions with Pinocchio

.github/workflows/test.yml

@@ -65,7 +65,7 @@ jobs:
         strategy:
             matrix:
                 python-version: ["3.9"]
-                loader: ["idyntree", "mujoco", "pinocchio", "pybullet", "robomeshcat", "yourdfpy"]
+                loader: ["idyntree", "mujoco", "pybullet", "robomeshcat", "yourdfpy"]
 
         steps:
             - name: "Checkout sources"
@@ -85,6 +85,40 @@ jobs:
               run: |
                   tox -e loader-${{ matrix.loader }}
 
+    loader-pinocchio:
+        name: "Loader: pinocchio with Python ${{ matrix.python-version }}"
+        runs-on: ubuntu-latest
+
+        strategy:
+            matrix:
+                python-version: ["3.9"]
+
+        defaults:
+            run:
+                # See https://github.com/mamba-org/setup-micromamba?tab=readme-ov-file#about-login-shells
+                shell: bash -leo pipefail {0}
+
+        steps:
+            - name: "Checkout sources"
+              uses: actions/checkout@v4
+
+            - name: "Install Conda environment with Micromamba"
+              uses: mamba-org/setup-micromamba@v1
+              with:
+                  micromamba-version: '1.5.8-0'
+                  environment-name: pinocchio_test_env
+                  create-args: >-
+                      python=${{ matrix.python-version }}
+                      gitpython
+                      pinocchio>=3.1.0
+                      tqdm
+                  cache-environment: true
+                  post-cleanup: 'all'
+
+            - name: "Run loader tests"
+              run: |
+                  python -m unittest tests/loaders/test_pinocchio.py --failfast
+
     ci_success:
         name: "CI success"
         runs-on: ubuntu-latest

CHANGELOG.md

@@ -25,9 +25,15 @@ All notable changes to this project will be documented in this file.
 
 ### Changed
 
+- CICD: Isolate loader tests in testing submodules
+- CICD: Remove version pin on NumPy < 2
 - Update `baxter_common` repository with a commit ID rather than a tag
 - Update `talos-data` repository with a commit ID rather than a tag
 
+### Fixed
+
+- CICD: Switch to conda-forge dependencies in Pinocchio loader test environment
+
 ## [1.16.0] - 2025-04-09
 
 ### Added

pyproject.toml

@@ -33,9 +33,9 @@ keywords = ["robot", "description", "urdf", "mjcf"]
 
 [project.optional-dependencies]
 opts = [
-    "idyntree >= 8.0.0",
+    "idyntree >=8.0.0",
     "mujoco >=3.2.0",
-    "pin >=2.6.10",
+    "pin >=3.1.0",
     "pybullet >=3.2.6",
     "robomeshcat >=1.0.4",
     "yourdfpy >=0.0.56",

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

@@ -7,15 +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):
         """
@@ -29,16 +38,24 @@ def get_test_for_description(description: str):
         """
 
         def test(self):
-            load_robot_description(description)
+            load_pinocchio(description)
 
         return test
 
 
-# Add a test function for each URDF description
+# Add a test function for each description
 for name, description in DESCRIPTIONS.items():
-    if description.has_urdf:
-        setattr(
-            TestPinocchio,
-            f"test_{name}",
-            TestPinocchio.get_test_for_description(name),
-        )
+    if name == "a1_mj_description":
+        # See https://github.com/stack-of-tasks/pinocchio/issues/2613
+        continue
+    if name == "aloha_mj_description":
+        # See https://github.com/stack-of-tasks/pinocchio/issues/2610
+        continue
+    if name == "talos_mj_description":
+        # See https://github.com/stack-of-tasks/pinocchio/issues/2612
+        continue
+    setattr(
+        TestPinocchio,
+        f"test_{name}",
+        TestPinocchio.get_test_for_description(name),
+    )

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 +31,20 @@ def tearDown(self):
         """
         pybullet.disconnect()
 
+    def test_pybullet(self):
+        self.assertIsNotNone(
+            load_pybullet(
+                "upkie_description",
+                commit="98502d5b175c3d6b60b3cf475b7eeef9fd290c43",
+            )
+        )
+
     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 +59,7 @@ 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")