Generate text-based coverage report on CI.

Author: duburcqa

.github/workflows/linux-gpu.yml

@@ -25,7 +25,7 @@ jobs:
           # Checkout of the full history is required for running benchmarks on old commits but not current
           fetch-depth: 1
 
-      - name: Run unit tests
+      - name: Run unit tests with coverage report
         if: github.event_name == 'pull_request'
         run: |
           SLURM_JOB_NAME="$(uuidgen)_$(date +%Y%m%d_%H%M%S)"
@@ -46,7 +46,7 @@ jobs:
             --job-name=${SLURM_JOB_NAME} \
             bash -c "
               pip install -e '.[dev,render]' && \
-              pytest -v --forked ./tests
+              pytest -v --forked --cov --cov-report=term-missing:skip-covered ./tests
             "
 
       - name: Run benchmarks

pyproject.toml

@@ -93,6 +93,7 @@ addopts = [
     "--max-worker-restart=0",
     "--durations=0",
     "--durations-min=40.0",
+    "--no-cov-on-fail",
     "-m not benchmarks",
 ]
 filterwarnings = [
@@ -105,6 +106,16 @@ markers = [
 ]
 log_cli_level = "WARNING"
 
+[tool.coverage.run]
+branch = true
+source = ["genesis"]
+# parallel = true
+# sigterm = true
+# concurrency = ["thread", "multiprocessing"]
+omit = [
+    "genesis/ext/*",  # Ignore bundled external dependencies
+]
+
 [project.scripts]
 gs = "genesis._main:main"
 
@@ -116,6 +127,7 @@ dev = [
     "pytest-forked",
     "pytest-random-order",
     "pytest-print",
+    "pytest-cov",
     "huggingface_hub",
     "wandb",
 ]

tests/test_rigid_physics.py

@@ -11,6 +11,7 @@
 
 import mujoco
 import genesis as gs
+from genesis.utils.mesh import get_assets_dir
 
 from .utils import (
     assert_allclose,
@@ -1935,27 +1936,25 @@ def must_cast(value):
 
 @pytest.mark.parametrize("backend", [gs.cpu])
 def test_mesh_to_heightfield(show_viewer):
-    ########################## create a scene ##########################
+    horizontal_scale = 2.0
+    path_terrain = os.path.join(get_assets_dir(), "meshes", "terrain_45.obj")
+
+    hf_terrain, xs, ys = gs.utils.terrain.mesh_to_heightfield(path_terrain, spacing=horizontal_scale, oversample=1)
+
+    # default heightfield starts at 0, 0, 0
+    # translate to the center of the mesh
+    translation = np.array([np.nanmin(xs), np.nanmin(ys), 0])
+
     scene = gs.Scene(
-        show_viewer=show_viewer,
         sim_options=gs.options.SimOptions(
             gravity=(2, 0, -2),
         ),
         viewer_options=gs.options.ViewerOptions(
             camera_pos=(0, -50, 0),
             camera_lookat=(0, 0, 0),
         ),
+        show_viewer=show_viewer,
     )
-
-    horizontal_scale = 2.0
-    gs_root = os.path.dirname(os.path.abspath(gs.__file__))
-    path_terrain = os.path.join(gs_root, "assets", "meshes", "terrain_45.obj")
-    hf_terrain, xs, ys = gs.utils.terrain.mesh_to_heightfield(path_terrain, spacing=horizontal_scale, oversample=1)
-
-    # default heightfield starts at 0, 0, 0
-    # translate to the center of the mesh
-    translation = np.array([np.nanmin(xs), np.nanmin(ys), 0])
-
     terrain_heightfield = scene.add_entity(
         morph=gs.morphs.Terrain(
             horizontal_scale=horizontal_scale,
@@ -1965,15 +1964,13 @@ def test_mesh_to_heightfield(show_viewer):
         ),
         vis_mode="collision",
     )
-
     ball = scene.add_entity(
         gs.morphs.Sphere(
             pos=(10, 15, 10),
             radius=1,
         ),
         vis_mode="collision",
     )
-
     scene.build()
 
     for i in range(1000):