Merge pull request #14 from dojo-sim/cleanup_tests

Cleanup tests

Author: janbruedigam

.github/workflows/CI.yml

@@ -9,15 +9,15 @@ jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
     runs-on: ${{ matrix.os }}
-#    if: ${{ contains(github.event.head_commit.message, 'run_ci') }}
     strategy:
       matrix:
         version:
-          - '1.7'
+          - '1.6' # LTS
+          - '1' # Current Stable
         os:
           - ubuntu-latest
-#           - macOS-latest
-#           - windows-latest
+          - macOS-latest
+          - windows-latest
         arch:
           - x64
     steps:
@@ -26,6 +26,7 @@ jobs:
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
+      # - uses: julia-actions/julia-buildpkg@latest
       - uses: julia-actions/julia-runtest@latest
       - uses: julia-actions/julia-uploadcodecov@latest
         env:

.github/workflows/Documenter.yml

@@ -14,7 +14,7 @@ jobs:
       - uses: actions/checkout@v2
       - uses: julia-actions/setup-julia@latest
         with:
-          version: '1.6'
+          version: '1'
       - name: Install dependencies
         run: julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
       - name: Build and deploy

.github/workflows/dailyCI.yml

@@ -6,10 +6,13 @@ jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
     runs-on: ${{ matrix.os }}
+    continue-on-error: ${{ matrix.version == 'nightly'}}
     strategy:
       matrix:
         version:
-          - '1.6'
+          - '1.6' # LTS
+          - '1' # Current Stable
+          - 'nightly' # Upcoming
         os:
           - ubuntu-latest
           - macOS-latest
@@ -22,6 +25,7 @@ jobs:
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
+      # - uses: julia-actions/julia-buildpkg@latest
       - uses: julia-actions/julia-runtest@latest
       - uses: julia-actions/julia-uploadcodecov@latest
         env:

Project.toml

@@ -1,6 +1,6 @@
 name = "Dojo"
 uuid = "ac60b53e-8d92-4c83-b960-e78698fa1916"
-authors = ["simonlc <simonlc@stanford.edu>", "thowell <thowell@stanford.edu>", "Jan Bruedigam"]
+authors = ["simonlc <simonlc@stanford.edu>", "thowell <thowell@stanford.edu>", "Jan Bruedigam <jan.bruedigam@tum.de>"]
 version = "0.1.0"
 
 [deps]
@@ -43,3 +43,12 @@ Quaternions = "<0.5.3, 0.5.3"
 Scratch = "1.1"
 StaticArrays = "1.2"
 julia = "1.6, 1.7"
+
+[extras]
+BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
+FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
+Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
+Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
+
+[targets]
+test = ["BenchmarkTools", "FiniteDiff", "Rotations", "Test"]

test/Manifest.toml

@@ -1,4 +1,4 @@
-@testset "Behavior: Quadruped simulation" begin
+@testset "Quadruped" begin
     mech = get_mechanism(:quadruped,
         timestep=0.05,
         gravity=-9.81,
@@ -8,17 +8,15 @@
 
     initialize!(mech, :quadruped)
 
-    try
-        storage = simulate!(mech, 5.0,
+    storage = simulate!(mech, 5.0,
             record=true,
             verbose=false)
-        @test true
-    catch
-        @test false
-    end
+
+    res = get_sdf(mech, storage) # distance from floor to each contact
+    @test minimum(minimum([min.(0.0, r) for r in res])) >= 0.0
 end
 
-@testset "Behavior: Box toss" begin
+@testset "Box toss" begin
     for timestep in [0.10, 0.05, 0.01, 0.005]
         mech = get_mechanism(:box,
             timestep=timestep,
@@ -39,7 +37,7 @@ end
     end
 end
 
-@testset "Behavior: Four-bar linkage" begin
+@testset "Four-bar linkage" begin
     for timestep in [0.10, 0.05, 0.01, 0.005]
         mech = Dojo.get_mechanism(:fourbar,
             model="fourbar",
@@ -63,7 +61,7 @@ end
     end
 end
 
-@testset "Behavior: Tennis Racket" begin
+@testset "Tennis racket" begin
     # Simulation
     timestep=0.01
     gravity=0.0

test/Project.toml

@@ -1,4 +1,4 @@
-@testset "Bodies: Shapes" begin
+@testset "Shape convertion" begin
     # shapes
     box = Dojo.Box(1.0, 1.0, 1.0)
     cylinder = Dojo.Cylinder(1.0, 1.0)
@@ -8,7 +8,7 @@
     pyramid = Dojo.Pyramid(1.0, 1.0)
     mesh = Dojo.Mesh(joinpath(@__DIR__, "../environments/atlas/deps/mesh/head.obj"))
 
-    # convert 
+    # convert
     box_geom = Dojo.convert_shape(box)
     cylinder_geom = Dojo.convert_shape(cylinder)
     capsule_geom = Dojo.convert_shape(capsule)
@@ -18,5 +18,3 @@
     mesh_geom = Dojo.convert_shape(mesh)
     @test true
 end
-
-