Add basic testing and CI workflow

.github/workflows/tests.yml

@@ -0,0 +1,40 @@
+name: tests
+
+on:
+  # Run action on certain pull request events
+  pull_request:
+    types: [opened, synchronize, reopened, ready_for_review]
+
+  # Nightly job on default (main) branch
+  schedule:
+    - cron: '0 0 * * *'
+
+# Ensures that only one workflow runs at a time for this branch
+concurrency:
+  group: ${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+      - name: Set up Python
+        uses: actions/setup-python@v3
+        with:
+          python-version: '3.10'
+      - name: Install dependencies
+        run: |
+          python3 -m pip install --upgrade pip
+          pip3 install -e .
+          pip3 install -r test/test_requirements.txt
+      - name: Run unit tests
+        run: test/run_tests.bash
+      - name: Upload test results
+        uses: actions/upload-artifact@v3
+        with:
+          name: test-results
+          path: test/results/
+        # Always publish test results even when there are failures.
+        if: ${{ always() }}

README.md

@@ -1,8 +1,16 @@
 # PyRoboPlan
-WORK IN PROGRESS: Educational Python library for manipulator motion planning.
+
+[![PyRoboPlan Tests](https://github.com/sea-bass/pyroboplan/actions/workflows/tests.yml/badge.svg?branch=main)](https://github.com/sea-bass/pyroboplan/actions/workflows/tests.yml)
+[![Documentation Status](https://readthedocs.org/projects/pyroboplan/badge/?version=latest)](https://pyrobosim.readthedocs.io/en/latest/?badge=latest)
+
+Educational Python library for manipulator motion planning.
 
 This library extensively uses the [Pinocchio](https://github.com/stack-of-tasks/pinocchio) Python bindings for modeling robot kinematics and dynamics.
 
+For more information, refer to the [full documentation](https://pyroboplan.readthedocs.io/en/latest/).
+
+By Sebastian Castro, 2024
+
 ## Setup
 
 (Optional) Set up a virtual enviroment and install dependencies.

src/pyroboplan/planning/rrt.py

@@ -122,7 +122,7 @@ def plan(self, q_start, q_goal, options=RRTPlannerOptions()):
             # Add the node only if it is collision free.
             if check_collisions_at_state(self.model, self.collision_model, q_sample):
                 continue
-    
+
             path_to_node = discretize_joint_space_path(
                 nearest_node.q, q_sample, self.options.max_angle_step
             )

test/.gitignore

@@ -0,0 +1 @@
+results/

test/core/test_utils.py

@@ -0,0 +1,10 @@
+import numpy as np
+import pytest
+
+from pyroboplan.core.utils import configuration_distance
+
+
+def test_configuration_distance():
+    q_start = np.array([0.0, 0.0, 0.0, 0.0, 0.0])
+    q_end = np.array([0.3, 0.0, -0.4, 0.0, 0.0])
+    assert configuration_distance(q_start, q_end) == pytest.approx(0.5)

test/run_tests.bash

@@ -0,0 +1,15 @@
+#!/bin/bash
+
+# Runs all unit tests
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+TEST_RESULTS_DIR="${SCRIPT_DIR}/results"
+
+echo "Running unit tests..."
+python3 -m pytest "$SCRIPT_DIR" \
+ --cov="$SCRIPT_DIR" --cov-branch --cov-report term \
+ --cov-report html:"$TEST_RESULTS_DIR/test_results_coverage_html" \
+ --cov-report xml:"$TEST_RESULTS_DIR/test_results_coverage.xml" \
+ --junitxml="$TEST_RESULTS_DIR/test_results.xml" \
+ --html="$TEST_RESULTS_DIR/test_results.html" \
+ --self-contained-html

test/test_requirements.txt

@@ -0,0 +1,4 @@
+pytest
+pytest-cov
+pytest-dependency
+pytest-html