ci: added tests

Author: juelg

.github/workflows/build.yaml

@@ -0,0 +1,56 @@
+name: Python
+on:
+  workflow_call:
+  pull_request:
+    paths:
+      - "src/**"
+      - ".github/workflows/**"
+  push:
+    branches:
+      - main
+
+jobs:
+  build_clang:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: sudo apt install libeigen3-dev
+      # - name: Check clang format
+      #   run: make cppcheckformat
+      - name: Set up Python 3.11
+        id: setup-python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+          cache: "pip"
+      - name: Clang build
+        run: make clangcompile PYTHON_EXECUTABLE=${{ steps.setup-python.outputs.python-path }}
+
+  pythonpackage:
+    runs-on: ubuntu-latest
+    env:
+      GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install CPP dependencies
+        run: sudo apt install libeigen3-dev
+      - name: Set up Python 3.11
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+          cache: "pip"
+      - name: Install building dependencies
+        run: python -m pip install -r requirements.txt
+      - name: Install wheel
+        run: python -m pip install wheel
+      - name: Install the package
+        run: python -m pip install --no-build-isolation '.[dev]'
+      # - name: Code formatting
+      #   run: make pyformat
+      # - name: Code linting
+      #   run: make pylint
+      - name: Check that stub files are up-to-date
+        run: make stubgen && git diff --exit-code
+      - name: Ensure all unittests(pytest) are passing
+        run: make pytest

.vscode/launch.json

@@ -0,0 +1,18 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Debug python tests",
+            "type": "debugpy",
+            "request": "launch",
+            "module": "pytest",
+            "console": "integratedTerminal",
+            "args": ["-vv"],
+            "justMyCode": true,
+            "cwd": "${workspaceFolder}"
+        },
+    ]
+}

pyproject.toml

@@ -34,6 +34,7 @@ dev = [
     "clang",
     "clang-format",
     "clang-tidy",
+    "scipy",
 ]
 
 [tool.scikit-build]

src/frankik/__init__.py

@@ -1,3 +1,3 @@
-from frankik._core import __version__, ik, ik_full, fk
+from frankik._core import __version__, ik, ik_full, fk, q_max_fr3, q_max_panda, q_min_fr3, q_min_panda
 
-__all__ = ["__version__", "ik", "ik_full", "fk"]
+__all__ = ["__version__", "ik", "ik_full", "fk", "q_max_fr3", "q_max_panda", "q_min_fr3", "q_min_panda"]

src/frankik/_core.pyi

@@ -8,7 +8,7 @@ import typing
 
 import numpy
 
-__all__: list[str] = ["fk", "ik", "ik_full"]
+__all__: list[str] = ["fk", "ik", "ik_full", "q_max_fr3", "q_max_panda", "q_min_fr3", "q_min_panda"]
 
 def fk(
     q: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]]
@@ -62,3 +62,7 @@ def ik_full(
     """
 
 __version__: str = "0.1"
+q_max_fr3: list = [2.3093, 1.5133, 2.4937, -0.4461, 2.48, 4.2094, 2.6895]
+q_max_panda: list = [2.8973, 1.7628, 2.8973, -0.0698, 2.8973, 3.7525, 2.8973]
+q_min_fr3: list = [-2.3093, -1.5133, -2.4937, -2.7478, -2.48, 0.8521, -2.6895]
+q_min_panda: list = [-2.8973, -1.7628, -2.8973, -3.0718, -2.8973, -0.0175, -2.8973]

src/pybind/bindings.cpp

@@ -23,10 +23,12 @@ PYBIND11_MODULE(_core, m) {
   m.attr("__version__") = "dev";
 #endif
 
-  // auto frankik = m.def_submodule("frankik", "python bindings for frankik
-  // IK/FK");
 
-  // function ik_full
+  m.attr("q_min_panda") = frankik::q_min_panda;
+  m.attr("q_max_panda") = frankik::q_max_panda;
+  m.attr("q_min_fr3") = frankik::q_min_fr3;
+  m.attr("q_max_fr3") = frankik::q_max_fr3;
+
   m.def("ik_full", &frankik::ik_full, py::arg("O_T_EE"),
         py::arg("q_actual_array") = frankik::kQDefault, py::arg("q7") = M_PI_4, py::arg("is_fr3") = false,
         "Compute full inverse kinematics for Franka Emika Panda robot.\n\n"
@@ -39,7 +41,6 @@ PYBIND11_MODULE(_core, m) {
         "Returns:\n"
         "    Eigen::Matrix<double, 4, 7>: All possible IK solutions (up to 4). "
         "NaN if no solution.");
-  // function ik
   m.def("ik", &frankik::ik, py::arg("O_T_EE"),
         py::arg("q_actual_array") = frankik::kQDefault, py::arg("q7") = M_PI_4, py::arg("is_fr3") = false,
         "Compute one inverse kinematics solution for Franka Emika Panda "
@@ -52,7 +53,6 @@ PYBIND11_MODULE(_core, m) {
         "    is_fr3 (bool, optional): Whether to use FR3 joint limits. Defaults to false.\n\n"
         "Returns:\n"
         "    Vector7d: One IK solution. NaN if no solution.");
-  // function fk
   m.def("fk", &frankik::fk, py::arg("q"),
         "Compute forward kinematics for Franka Emika Panda robot.\n\n"
         "Args:\n"