feat: adding webots dynamic scenario tests

[abanuelo]

Description

Adding a webots dynamic scenario test where an object is created above a plane and then drops until it hits the floor. The test checks the expected start and ending z values for the object's position. Note, that webots runs headlessly via a python subprocess. This subprocess then creates a results.txt file which contains the starting and ending z positions. Below is an illustration of the test case running on our machine:

testing_2.mp4

Issue Link

Checklist

• I have tested the changes locally via pytest and/or other means
• I have added or updated relevant documentation
• I have autoformatted the code with black and isort
• I have added test cases (if applicable)

Additional Notes

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 91.36%. Comparing base (d7679fb) to head (89dd220).
Report is 23 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #231      +/-   ##
==========================================
+ Coverage   91.32%   91.36%   +0.03%     
==========================================
  Files          54       54              
  Lines       13515    13577      +62     
==========================================
+ Hits        12343    12404      +61     
- Misses       1172     1173       +1     

see 15 files with indirect coverage changes

[abanuelo]

Important!!!!

In order to for dynamic webots tests to work you need a physical or virtual display. If you are:

1. sshing into the instance and triggering the webots tests manually
2. OR running the CI feat: adding ci for simulator testing #226 that triggers simulation tests on the instance

it is VERY important you create a virtual screen prior to running the tests!

Xvfb :99 -screen 0 1024x768x16 &
export DISPLAY=:99

If not you will generate the following warning which will automatically fail all webots dynamic scenario tests:

Warning: Could not find the Qt platform plugin "offscreen" in ""
Fatal: This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.

Available platform plugins are: xcb.

/usr/local/bin/webots: line 105: 12490 Aborted                 (core dumped) "$webots_home/bin/webots-bin" "$@"

If you are using the DCV client to run the test (as illustrated in the PR description above), the built in DISPLAY port should be fine and no need to run the commands above.

[Eric-Vin]

Maybe add a large upper bound to the time limit so if the test fails, it does so gracefully?

[lola831]

I've addressed the comment, added the timeout, and tested the changes locally to ensure everything works as expected.