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Test MJCF descriptions with Pinocchio#103

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@stephane-caronstephane-caron commentedAug 8, 2024
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Blocker: thepin package on PyPI is currently at version 2.7.0, while we will need a version that includesthis change to be able to test MJCF descriptions here.

@stephane-caronstephane-caron added the no changelogThis PR doesn't need a changelog update labelAug 8, 2024
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coveralls commentedAug 8, 2024
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Pull Request Test Coverage Report forBuild 19733273569

Details

  • 6 of6(100.0%) changed or added relevant lines in1 file are covered.
  • No unchanged relevant lines lost coverage.
  • Overall coverage increased (+1.6%) to99.737%

TotalsCoverage Status
Change from baseBuild 19733264075:1.6%
Covered Lines:1136
Relevant Lines:1139

💛 -Coveralls

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stephane-caron commentedMar 10, 2025
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I have tested the following MJCF descriptions at my disposal with Pinocchio 3.4.0 (installed from conda-forge). Most of them (25 / 34) load successfully. I have opened upstream issues for those who don't.

DescriptionOutcome
a1_mj_descriptionstack-of-tasks/pinocchio#2613
aliengo_mj_description✔️
allegro_hand_mj_description✔️
aloha_mj_descriptionstack-of-tasks/pinocchio#2610
anymal_b_mj_descriptionstack-of-tasks/pinocchio#2611
anymal_c_mj_description✔️ (textures missing)
cassie_mj_description✔️ (textures missing)
cf2_mj_description✔️
fr3_mj_description✔️
g1_mj_description✔️
gen3_mj_description✔️
go1_mj_description✔️
go2_mj_description✔️
h1_mj_description✔️
iiwa14_mj_description✔️
jvrc_mj_description✔️ (textures missing)
leap_hand_mj_description✔️ (collisions as visuals?)
op3_mj_descriptionstack-of-tasks/pinocchio#2611
panda_mj_description✔️
robotiq_2f85_mj_descriptionstack-of-tasks/pinocchio#2611
sawyer_mj_description✔️
shadow_dexee_mj_description✔️ (big cylinder in visuals?)
shadow_hand_mj_descriptionstack-of-tasks/pinocchio#2611
skydio_x2_mj_descriptionstack-of-tasks/pinocchio#2611
spot_mj_description✔️
stretch_3_mj_description✔️
stretch_mj_description✔️
talos_mj_descriptionstack-of-tasks/pinocchio#2612
ur10e_mj_description✔️
ur5e_mj_description✔️
viper_mj_description✔️ (no textures)
widow_mj_descriptionstack-of-tasks/pinocchio#2611
xarm7_mj_description✔️
z1_mj_description✔️ (no textures)

@stephane-caronstephane-caronforce-pushed thefix/test_pinocchio_mjcf branch 2 times, most recently from39543a5 tof2d37ccCompareMay 8, 2025 09:21
@stephane-caronstephane-caronforce-pushed thefix/test_pinocchio_mjcf branch 2 times, most recently fromc86480a to39f4a0dCompareSeptember 3, 2025 07:50
As of today, the Pinocchio version on PyPI is 2.7.0 while that onconda-forge is 3.3.0
Merge remaining loader tests to the description test fixture.
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