add first pytest unit tests (#100)

.github/workflows/ci.yml

@@ -0,0 +1,25 @@
+name: CI Checks
+
+on: [pull_request]
+
+jobs:
+  unit-tests:
+    name: Unit Tests
+    runs-on: "ubuntu-20.04"
+    defaults:
+      run:
+        shell: bash -el {0}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: conda-incubator/setup-miniconda@v3
+        with:
+          activate-environment: rcareworld
+          python-version: "3.10"
+      - run: |
+          cd pyrcareworld
+          pip install -r requirements.txt
+          pip install -e .
+          pip uninstall -y numpy
+          conda install numpy
+          cd ../
+          pytest tests/

pyrcareworld/pyrcareworld/envs/bathing_env.py

@@ -0,0 +1,15 @@
+"""Bathing environment for the PhyRC competition."""
+
+from pyrcareworld.envs.base_env import RCareWorld
+from pathlib import Path
+
+
+_TEMPLATE_PATH = Path(__file__).parents[3] / "template"
+_DEFAULT_EXECUTABLE_PATH = _TEMPLATE_PATH / "Bathing" / "BathingPlayer.x86_64"
+
+
+class BathingEnv(RCareWorld):
+    """Bathing environment for the PhyRC competition."""
+
+    def __init__(self, executable_file=str(_DEFAULT_EXECUTABLE_PATH), *args, **kwargs):
+        super().__init__(executable_file=executable_file, *args, **kwargs)

pyrcareworld/pyrcareworld/envs/dressing_env.py

@@ -0,0 +1,15 @@
+"""Dressing environment for the PhyRC competition."""
+
+from pyrcareworld.envs.base_env import RCareWorld
+from pathlib import Path
+
+
+_TEMPLATE_PATH = Path(__file__).parents[3] / "template"
+_DEFAULT_EXECUTABLE_PATH = _TEMPLATE_PATH / "Dressing" / "DressingPlayer.x86_64"
+
+
+class DressingEnv(RCareWorld):
+    """Dressing environment for the PhyRC competition."""
+
+    def __init__(self, executable_file=str(_DEFAULT_EXECUTABLE_PATH), *args, **kwargs):
+        super().__init__(executable_file=executable_file, *args, **kwargs)

pyrcareworld/requirements.txt

@@ -3,6 +3,7 @@ opencv-contrib-python
 requests
 open3d
 pandas
+pytest>=7.2.2
 
 # gym==0.21.0
 # cloudpickle

template/test_bathing.py

@@ -1,8 +1,7 @@
 import json
-from pyrcareworld.envs.base_env import RCareWorld
+from pyrcareworld.envs.bathing_env import BathingEnv
 import numpy as np
 import cv2
-import os
 import argparse
 
 def _main(use_graphics=False):
@@ -23,12 +22,8 @@ def _main(use_graphics=False):
         """
 
         print(text) 
-    # Initialize the environment with the specified executable file and graphics option
-
-    script_dir = os.path.dirname(os.path.abspath(__file__))
-    executable_file = os.path.join(script_dir, "Bathing", "BathingPlayer.x86_64")
-
-    env = RCareWorld(executable_file=executable_file, graphics=use_graphics)
+    # Initialize the environment
+    env = BathingEnv(graphics=use_graphics)
     print(env.attrs)
 
     stretch_id = 221582

template/test_dressing.py

@@ -1,4 +1,4 @@
-from pyrcareworld.envs.base_env import RCareWorld
+from pyrcareworld.envs.dressing_env import DressingEnv
 import pyrcareworld.attributes as attr
 import cv2
 import os
@@ -21,12 +21,8 @@ def _main(use_graphics=False):
         """
 
         print(text)
-    # Initialize the environment with the specified assets and set the time step
-
-    script_dir = os.path.dirname(os.path.abspath(__file__))
-    executable_file = os.path.join(script_dir, "Dressing", "DressingPlayer.x86_64")
-
-    env = RCareWorld(executable_file=executable_file, graphics=use_graphics)
+    # Initialize the environment
+    env = DressingEnv(graphics=use_graphics)
     print(env.attrs)
 
     kinova_id = 315893

tests/test_env_initialization.py

@@ -0,0 +1,16 @@
+"""Tests that the main environments initialize without crashing."""
+
+from pyrcareworld.envs.bathing_env import BathingEnv
+from pyrcareworld.envs.dressing_env import DressingEnv
+
+
+def test_bathing_env_initialization():
+    """Tests that the bathing environment initializes without crashing."""
+    env = BathingEnv(graphics=False)
+    assert isinstance(env, BathingEnv)
+
+
+def test_dressing_env_initialization():
+    """Tests that the dressing environment initializes without crashing."""
+    env = DressingEnv(graphics=False)
+    assert isinstance(env, DressingEnv)