[tests/python] Properly gate some tests using pytest.mark.skipif

[cmake] Remove some tests from list of Python tests depending on detected features

Author: ManifoldFR

tests/python/CMakeLists.txt

@@ -10,13 +10,13 @@ file(
 if(NOT BUILD_CROCODDYL_COMPAT)
   list(REMOVE_ITEM PYTHON_TESTS test_compat_croc.py)
 endif()
-if(NOT BUILD_WITH_PINOCCHIO_PYTHON_BINDINGS)
-  list(REMOVE_ITEM PYTHON_TESTS test_constrained_dynamics.py)
+if(NOT BUILD_WITH_PINOCCHIO_SUPPORT)
+  list(REMOVE_ITEM PYTHON_TESTS test_center_of_mass.py)
   list(REMOVE_ITEM PYTHON_TESTS test_frames.py)
-endif()
-if(NOT PINOCCHIO_V3)
+  list(REMOVE_ITEM PYTHON_TESTS test_rollout.py)
+elseif(NOT PINOCCHIO_V3)
+  # Pinocchio support, but not Pinocchio 3
   list(REMOVE_ITEM PYTHON_TESTS test_constrained_dynamics.py)
-  list(REMOVE_ITEM PYTHON_TESTS test_frames.py)
 endif()
 make_directory(${CMAKE_CURRENT_BINARY_DIR})
 

tests/python/test_continuous_dynamics.py

@@ -6,12 +6,13 @@
 import numpy as np
 import aligator
 from aligator import dynamics, manifolds
-from pinocchio import Quaternion
+from eigenpy import Quaternion
 from utils import finite_diff, infNorm, create_multibody_ode
 
 epsilon = 1e-6
 aligator.seed(42)
 np.random.seed(42)
+HAS_PINOCCHIO = aligator.has_pinocchio_features()
 
 
 class MyODE(dynamics.ODEAbstract):
@@ -71,6 +72,9 @@ def test_custom_ode():
     assert len(xs) == 11
 
 
+@pytest.mark.skipif(
+    not HAS_PINOCCHIO, reason="Aligator was compiled without Pinocchio."
+)
 def test_multibody_free():
     ode = create_multibody_ode(True)
     if ode is None:
@@ -304,6 +308,9 @@ def test_continuous_centroidal_diff():
     assert np.allclose(Judiff, Ju0, epsilon), "err={}".format(infNorm(Judiff - Ju0))
 
 
+@pytest.mark.skipif(
+    not HAS_PINOCCHIO, reason="Aligator was compiled without Pinocchio."
+)
 def test_kinodynamics():
     import pinocchio as pin
 
@@ -337,6 +344,9 @@ def test_kinodynamics():
     ode.dForward(x0, u0, data)
 
 
+@pytest.mark.skipif(
+    not HAS_PINOCCHIO, reason="Aligator was compiled without Pinocchio."
+)
 def test_kinodynamics_diff():
     import pinocchio as pin
 

tests/python/test_finite_diff.py

@@ -42,7 +42,9 @@ def test_compute_jac_vs():
         assert np.allclose(fdata1.Jy, fdata1b.Jy, 1e-2)
 
 
-@pytest.mark.skipif(not HAS_PINOCCHIO, reason="Pinocchio bindings not present.")
+@pytest.mark.skipif(
+    not HAS_PINOCCHIO, reason="Aligator was compiled without Pinocchio."
+)
 def test_compute_jac_multibody():
     model = pin.buildSampleModelHumanoid()
     space = manifolds.MultibodyConfiguration(model)
@@ -87,7 +89,6 @@ def test_compute_cost_se3():
 
 
 if __name__ == "__main__":
-    import pytest
     import sys
 
     sys.exit(pytest.main(sys.argv))

tests/python/test_frames.py

@@ -1,5 +1,6 @@
 """
-Test function related to frames.
+Test function related to Pinocchio frames.
+This test is not added to CTest when CMake does not detect Pinocchio.
 """
 
 import aligator
@@ -194,4 +195,3 @@ def test_fly_high():
     import pytest
 
     sys.exit(pytest.main(sys.argv))
-    # test_frame_placement()