Bez3 integration tests

.github/workflows/remove_old_artifacts.yml

@@ -0,0 +1,17 @@
+name: Remove old artifacts
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: "0 1 * * *"
+
+jobs:
+  remove-old-artifacts:
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+
+    steps:
+      - name: Remove old artifacts
+        uses: c-hive/gha-remove-artifacts@v1
+        with:
+          age: "7 days"

.github/workflows/test_integration.yml

@@ -11,7 +11,7 @@ env:
   DOCKER_BUILDKIT: 1
 
 jobs:
-  test_integration:
+  build_docker_images:
     runs-on: ubuntu-latest
     timeout-minutes: 60
     concurrency:
@@ -38,6 +38,47 @@ jobs:
         run: |
           docker-compose pull
           docker-compose build --progress=plain
+      - name: Push test docker images
+        run: |
+          docker tag utrarobosoccer/soccerbot utrarobosoccer/soccerbot:test
+          docker tag utrarobosoccer/webots utrarobosoccer/webots:test
+          docker push utrarobosoccer/soccerbot:test
+          docker push utrarobosoccer/webots:test
+  run_integration_tests:
+    runs-on: ubuntu-latest
+    needs: build_docker_images
+    strategy:
+      fail-fast: false
+      matrix:
+        robot_model: [bez1, bez3]
+    timeout-minutes: 60
+    concurrency:
+      group: ${{ github.workflow }}-${{ github.ref }}
+      cancel-in-progress: true
+    env:
+      ROBOT_MODEL: ${{ matrix.robot_model }}
+    steps:
+      - name: Maximize build space
+        run: |
+          sudo rm -rf /usr/local/lib/android
+          sudo rm -rf /usr/share/dotnet
+          sudo rm -rf /opt/ghc
+          df -h
+      - uses: actions/checkout@v3
+        with:
+          lfs: true
+          submodules: recursive
+      - name: Docker Login
+        uses: docker/login-action@v1.12.0
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_TOKEN }}
+      - name: Get Docker image
+        run: |
+          docker pull utrarobosoccer/soccerbot:test
+          docker pull utrarobosoccer/webots:test
+          docker tag utrarobosoccer/soccerbot:test utrarobosoccer/soccerbot
+          docker tag utrarobosoccer/webots:test utrarobosoccer/webots
       - name: Walking Integration Test
         run: |
           docker-compose -f docker-compose.test.yaml up --exit-code-from friendly

docker-compose.test.yaml

@@ -84,4 +84,3 @@ services:
       PYTHONUNBUFFERED: 1
       DISPLAY: unix$DISPLAY
       XDG_RUNTIME_DIR: $XDG_RUNTIME_DIR
-      ROBOT_MODEL: bez1

soccer_pycontrol/config/bez3_sim.yaml

@@ -1,7 +1,7 @@
 # Path parameters
 
 torso_height: 0.46
-walking_hip_height: 0.26
+
 joint_indices:
   LEFT_ARM_1: 12
   LEFT_ARM_2: 13
@@ -22,8 +22,23 @@ joint_indices:
   HEAD_1: 16
   HEAD_2: 17
 
-steps_per_second_default: 1.0
-bodystep_size_default: 0.05
-foot_separation: 0.06
-torso_offset_x: 0.03
+walking_hip_height: 0.26
+steps_per_second_default: 1.6
+bodystep_size_default: 0.01
+bodystep_size_short_backwards: 0.05
+bodystep_size_short_forwards: 0.05
+foot_separation: 0.045
+torso_offset_x: 0.01
 merge_fixed_links: true
+
+crotch_sidediff_sway: -0.024 # -0.025
+crotch_zdiff_sway: -0.02 # 0
+
+step_rotation: 0.3 # 0.05
+step_outwardness: 0.01 # 0.015
+pre_footstep_ratio: 0.15 # 0.15
+step_height: 0.07 # 0.065
+
+standing_Kp: 0.00
+standing_Kd: 0.00
+standing_Ki: 0.00

soccer_trajectories/trajectories/bez3_sim/getupback.csv

@@ -0,0 +1,19 @@
+time,0,3,7,7.6,8.2
+right_leg_motor_0,0,0,0,0,0
+left_leg_motor_0,0,0,0,0,0
+right_leg_motor_1,0,0,-0.2,0.2,-0.2
+left_leg_motor_1,0,0,0.2,0.2,0.2
+right_leg_motor_2,0,0,1.2,1.57,1.57
+left_leg_motor_2,0,0,1.2,0,1.57
+right_leg_motor_3,0,0,0,0,0
+left_leg_motor_3,0,0,0,0,0
+right_leg_motor_4,0,0,0,0,0
+left_leg_motor_4,0,0,0,0,0
+right_leg_motor_5,0,0,0,0,0
+left_leg_motor_5,0,0,0,0,0
+right_arm_motor_0,0,-1,-1.9,-1.57,-0.5
+left_arm_motor_0,0,-1,-1.9,0.6,-1.57
+right_arm_motor_1,0,2,0,0,0
+left_arm_motor_1,0,2,0,0,0
+head_motor_0,0,0,0,0,0
+head_motor_1,0,0,0,0,0

soccer_trajectories/trajectories/bez3_sim/getupfront.csv

@@ -0,0 +1,19 @@
+time,0,0.75,1.5,2.25,3,3.75,4.5,5.25,6,6.75
+right_leg_motor_0,0,0,0,0,0,0,0,0,0,0
+left_leg_motor_0,0,0,0,0,0,0,0,0,0,0
+right_leg_motor_1,0,0,0,0,0,0,0,0,0,0
+left_leg_motor_1,0,0,0,0,0,0,0,0,0,0
+right_leg_motor_2,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
+left_leg_motor_2,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
+right_leg_motor_3,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
+left_leg_motor_3,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
+right_leg_motor_4,0,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
+left_leg_motor_4,0,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
+right_leg_motor_5,0,0,0,0,0,0,0,0,0,0
+left_leg_motor_5,0,0,0,0,0,0,0,0,0,0
+right_arm_motor_0,0,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
+left_arm_motor_0,0,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
+right_arm_motor_1,0,3.14,3.14,2,2,1.3,0,0,0,0
+left_arm_motor_1,0,3.14,3.14,2,2,1.3,0,0,0,0
+head_motor_0,0,0,0,0,0,0,0,0,0,0
+head_motor_1,0,0,0,0,0,0,0,0,0,0

soccer_trajectories/trajectories/bez3_sim/getupside.csv

@@ -0,0 +1,19 @@
+time,0,0.5
+right_leg_motor_0,0,0
+left_leg_motor_0,0,0
+right_leg_motor_1,0,0
+left_leg_motor_1,0,0
+right_leg_motor_2,0,0
+left_leg_motor_2,0,0
+right_leg_motor_3,0,0
+left_leg_motor_3,0,0
+right_leg_motor_4,0,0
+left_leg_motor_4,0,0
+right_leg_motor_5,0,0
+left_leg_motor_5,0,0
+right_arm_motor_0,0,-1.5708
+left_arm_motor_0,0,-1.5708
+right_arm_motor_1,0,0
+left_arm_motor_1,0,0
+head_motor_0,0,0
+head_motor_1,0,0

soccer_trajectories/trajectories/bez3_sim/goalieleft.csv

@@ -0,0 +1,19 @@
+time,0,0.5,5
+right_leg_motor_0,0,0,0
+left_leg_motor_0,0,0,0
+right_leg_motor_1,0,0,0
+left_leg_motor_1,0,0,0
+right_leg_motor_2,0.564,0.564,0.564
+left_leg_motor_2,0.564,0.564,0.564
+right_leg_motor_3,-1.176,-1.176,-1.176
+left_leg_motor_3,-1.176,-2.5,-1.176
+right_leg_motor_4,0.613,0.613,0.613
+left_leg_motor_4,0.613,1.2,0.613
+right_leg_motor_5,0,0,0
+left_leg_motor_5,0,0,0
+right_arm_motor_0,3.14,3.14,3.14
+left_arm_motor_0,3.14,3.14,3.14
+right_arm_motor_1,0,0,0
+left_arm_motor_1,0,0,0
+head_motor_0,0,0,0
+head_motor_1,0,0,0

soccer_trajectories/trajectories/bez3_sim/goalieright.csv

@@ -0,0 +1,19 @@
+time,0,0.5,5
+right_leg_motor_0,0,0,0
+left_leg_motor_0,0,0,0
+right_leg_motor_1,0,0,0
+left_leg_motor_1,0,0,0
+right_leg_motor_2,0.564,0.564,0.564
+left_leg_motor_2,0.564,0.564,0.564
+right_leg_motor_3,-1.176,-2.5,-1.176
+left_leg_motor_3,-1.176,-1.176,-1.176
+right_leg_motor_4,0.613,1.2,0.613
+left_leg_motor_4,0.613,0.613,0.613
+right_leg_motor_5,0,0,0
+left_leg_motor_5,0,0,0
+right_arm_motor_0,3.14,3.14,3.14
+left_arm_motor_0,3.14,3.14,3.14
+right_arm_motor_1,0,0,0
+left_arm_motor_1,0,0,0
+head_motor_0,0,0,0
+head_motor_1,0,0,0

soccer_trajectories/trajectories/bez3_sim/rightkick.csv

@@ -0,0 +1,20 @@
+time,0.69,0.7,0.75,1,1.2,1.4,1.41,1.7,2
+left_leg_motor_0,0,0,0,0,0,0,0,0,0
+left_leg_motor_1,0.1,0.1,-0.15,-0.15,-0.25,-0.25,-0.25,-0.25,0.1
+left_leg_motor_2,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25
+left_leg_motor_3,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4
+left_leg_motor_4,0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2
+left_leg_motor_5,-0.1,-0.1,0.15,0.15,0.25,0.25,0.25,0.25,-0.1
+left_arm_motor_0,0,0,0,0,-1,-1,1,1,0
+left_arm_motor_1,2,2,2,2,2,2,2,2,2
+right_leg_motor_0,0,0,0,0,0,0,0,0,0
+right_leg_motor_1,0.1,0.1,0.2,0.2,0.4,0.4,0.4,0.4,0.1
+right_leg_motor_2,0.25,0.25,0.25,0.25,0.3,0.3,1.5,1,0.25
+right_leg_motor_3,-0.4,-0.4,-0.4,-0.4,-1,-1,-1,-1,-0.4
+right_leg_motor_4,0.2,0.2,0.2,0.2,0.5,0.5,0,0,0.2
+right_leg_motor_5,-0.1,-0.1,-0.1,-0.1,-0.2,-0.2,-0.2,-0.2,-0.1
+right_arm_motor_0,0,0,0,0,1,1,-1,-1,0
+right_arm_motor_1,2,2,2,2,2,2,2,2,2
+comment,stance,x,lean to the side,x,lift leg up,x,kick,step to balance,stance
+head_motor_0,0,0,0,0,0,0,0,0,0
+head_motor_1,0,0,0,0,0,0,0,0,0

test_integration.py

@@ -40,7 +40,7 @@ def printlog(s: str):
 
 class IntegrationTest(TestCase):
     START_PLAY = "false"
-    ROBOT_MODEL = "bez1"
+    ROBOT_MODEL = os.environ['ROBOT_MODEL'] if 'ROBOT_MODEL' in os.environ else "bez1"
 
     def reset_simulation(self):
 
@@ -52,7 +52,7 @@ def reset_simulation(self):
             subprocess.call(["/bin/bash", "-c", "killall python3 || echo 'No Python Executables running'"])
             subprocess.call(["/bin/bash", "-c", "killall /usr/bin/java || echo 'No Java Executables running'"])
             subprocess.call(["/bin/bash", "-c", "kill -9 $(pgrep webots) || echo 'No Webots running'"])
-            subprocess.call(["/bin/bash", "-c", "source ~/catkin_ws/devel/setup.bash && rosnode kill -a || echo 'No Nodes running"])
+            subprocess.call(["/bin/bash", "-c", "source ~/catkin_ws/devel/setup.bash && rosnode kill -a || echo 'No Nodes running'"])
 
     def start_simulation(self):
         if RUN_LOCALLY: