Add unit test to creo2urdf #151
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Summary of Changes
Hello @Nicogene, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!
This pull request introduces a new unit testing framework for creo2urdf generated models, specifically targeting URDF consistency and correctness. It aims to improve the quality and reliability of exported robot models by validating key kinematic and sensor properties, addressing issue #141.
Highlights
- New Model Validation Test: A new C++ executable (
creo2urdf-model-test) has been added to perform comprehensive validation of URDF models, checking aspects like joint axis directions, base link configuration, sole frame placement, and force/torque sensor properties. - CMake Integration for Testing: The build system has been updated to enable testing via CTest when the
BUILD_TESTINGoption is enabled, and a newtestssubdirectory has been introduced to house the test suite. - Detailed URDF Property Checks: The new test includes specific checks for various robot model characteristics, such as the expected directions of numerous joint axes (e.g., torso, hip, shoulder, finger joints), the identity transform of the
base_linkrelative toroot_link, the parallel and symmetric placement ofl_soleandr_soleframes, and the correct orientation and coherence of force/torque sensors.
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Code Review
This pull request introduces a unit test for creo2urdf, which is a valuable addition for ensuring model quality. The changes correctly set up the testing infrastructure with CMake and provide a comprehensive test suite for the URDF models.
My review focuses on improving the new test code. I've identified a few critical correctness issues due to copy-paste errors, as well as several opportunities to enhance maintainability, readability, and efficiency. Addressing these points will make the new test suite more robust and easier to extend in the future.
| if (rootLinkIdx == iDynTree::FRAME_INVALID_INDEX) | ||
| { | ||
| std::cerr << "ergocub-model-test error: impossible to find base_link in model" << std::endl; | ||
| return false; |
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There's a copy-paste error in this conditional. You're checking rootLinkIdx for validity, but the error message refers to base_link. You should be checking base_linkIdx.
| if (rootLinkIdx == iDynTree::FRAME_INVALID_INDEX) | |
| { | |
| std::cerr << "ergocub-model-test error: impossible to find base_link in model" << std::endl; | |
| return false; | |
| if (base_linkIdx == iDynTree::FRAME_INVALID_INDEX) | |
| { | |
| std::cerr << "ergocub-model-test error: impossible to find base_link in model" << std::endl; | |
| return false; | |
| } |
tests/creo2urdf-model-test.cpp
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| if (rootLinkIdx == iDynTree::FRAME_INVALID_INDEX) | ||
| { | ||
| std::cerr << "ergocub-model-test error: impossible to find frame l_sole in model" << std::endl; | ||
| return false; |
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There's a copy-paste error in this conditional. You're checking rootLinkIdx for validity, but you probably meant to check l_sole.
| if (rootLinkIdx == iDynTree::FRAME_INVALID_INDEX) | |
| { | |
| std::cerr << "ergocub-model-test error: impossible to find frame l_sole in model" << std::endl; | |
| return false; | |
| if (l_sole == iDynTree::FRAME_INVALID_INDEX) | |
| { | |
| std::cerr << "ergocub-model-test error: impossible to find frame l_sole in model" << std::endl; | |
| return false; | |
| } |
tests/creo2urdf-model-test.cpp
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| if (rootLinkIdx == iDynTree::FRAME_INVALID_INDEX) | ||
| { | ||
| std::cerr << "ergocub-model-test error: impossible to find frame r_sole in model" << std::endl; | ||
| return false; |
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Similar to the check for l_sole, there's a copy-paste error here. You're checking rootLinkIdx for validity, but you should be checking r_sole.
| if (rootLinkIdx == iDynTree::FRAME_INVALID_INDEX) | |
| { | |
| std::cerr << "ergocub-model-test error: impossible to find frame r_sole in model" << std::endl; | |
| return false; | |
| if (r_sole == iDynTree::FRAME_INVALID_INDEX) | |
| { | |
| std::cerr << "ergocub-model-test error: impossible to find frame r_sole in model" << std::endl; | |
| return false; | |
| } |
| /** | ||
| * All the iCub have a odd and not null number of F/T sensors. | ||
| */ | ||
| bool checkFTSensorsAreOddAndNotNull(iDynTree::ModelLoader& mdlLoader) |
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This function checkFTSensorsAreOddAndNotNull appears to be unused. The main function calls checkFTSensorsAreEvenAndNotNull instead. If this function is not needed, it should be removed to reduce code clutter.
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| bool Model_isFrameNameUsed(const iDynTree::Model& model, const std::string frameName) |
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This function Model_isFrameNameUsed seems to be a reimplementation of iDynTree::Model::isFrameNameUsed and is not called anywhere in the file. It appears to be dead code and should be removed.
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| const std::string modelPath = __argc > 1 ? __argv[1] : "model.urdf"; |
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The use of __argc and __argv is a Microsoft-specific extension. For better portability, it's recommended to use the standard argc and argv which are passed as arguments to main.
| const std::string modelPath = __argc > 1 ? __argv[1] : "model.urdf"; | |
| const std::string modelPath = argc > 1 ? argv[1] : "model.urdf"; |
It fixes #141