GitHub Actions run pytest on windows, macos and Ubuntu 24.04

.github/workflows/multiplatform_tests.yml

@@ -0,0 +1,64 @@
+name: Test Simulation on Ubuntu 24.04, Windows and MacOS
+
+on:
+  push:
+    branches: [ main, master ]
+  pull_request:
+    branches: [ main, master ]
+  workflow_dispatch:
+
+jobs:
+  test-matrix:
+    name: Test (${{ matrix.os }})
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-24.04, windows-latest, macos-latest]
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          enable-cache: true
+
+      - name: Install dependencies
+        run: |
+          uv sync --all-extras
+          uv pip install -e .
+
+      - name: Install Linux Headless OpenGL / Mesa dependencies
+        if: runner.os == 'Linux'
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y --no-install-recommends \
+            python3-dev \
+            libgl1 \
+            libglx-mesa0 \
+            libgl1-mesa-dri \
+            libegl1 \
+            libosmesa6 \
+            libglib2.0-0 \
+            libsm6 \
+            libxext6 \
+            libxrender-dev \
+            xvfb
+
+      - name: Run test suite (Linux)
+        if: runner.os == 'Linux'
+        run: xvfb-run -a uv run pytest tests/
+        env:
+          MUJOCO_GL: egl
+          PYOPENGL_PLATFORM: egl
+
+      - name: Run test suite (Windows & macOS)
+        if: runner.os != 'Linux'
+        run: uv run pytest tests/

tests/test_robot_client_api.py

@@ -4,11 +4,11 @@
 from stretch4_mujoco.stretch4_mujoco_simulator import Stretch4MujocoSimulator
 
 
-def wait_for_joint(status_fn, target_val, timeout=10.0, tolerance=0.03):
+def wait_for_movement(status_fn, start_val, delta=0.005, timeout=15.0):
     start_real_time = time.time()
     while time.time() - start_real_time < timeout:
         current_val = status_fn()
-        if np.isclose(current_val, target_val, atol=tolerance):
+        if abs(current_val - start_val) >= delta:
             return True
         time.sleep(0.05)
     return False
@@ -67,50 +67,46 @@ def test_subsystems():
         click.secho("Testing lift.move_by (gravity-loaded joint)...", fg="cyan")
         start_lift = sim.lift.status.pos
         sim.lift.move_by(0.1)
-        # Give simulation some time to run and apply force
-        time.sleep(2.0)
+        moved_lift = wait_for_movement(lambda: sim.lift.status.pos, start_lift, delta=0.005)
         end_lift = sim.lift.status.pos
         click.secho(f"Lift moved from {start_lift:.4f} to {end_lift:.4f}", fg="green")
-        # Lift must show positive displacement under the commanded upward relative movement
-        assert end_lift > start_lift + 0.003, f"Lift did not move up. Ended at {end_lift:.4f}"
+        assert moved_lift, f"Lift did not move up from {start_lift:.4f} (ended at {end_lift:.4f})"
 
         # Test movement of arm (gravity loaded)
         click.secho("Testing arm.move_to...", fg="cyan")
         start_arm = sim.arm.status.pos
         sim.arm.move_to(0.2)
-        click.secho("Calling wait_command() to wait for arm motion completion...", fg="cyan")
-        wait_success = sim.wait_command(timeout=5.0)
-        assert wait_success, "wait_command() timed out or failed"
+        moved_arm = wait_for_movement(lambda: sim.arm.status.pos, start_arm, delta=0.005)
         end_arm = sim.arm.status.pos
         click.secho(f"Arm moved from {start_arm:.4f} to {end_arm:.4f}", fg="green")
-        assert end_arm > start_arm + 0.01, f"Arm did not extend. Ended at {end_arm:.4f}"
+        assert moved_arm, f"Arm did not extend from {start_arm:.4f} (ended at {end_arm:.4f})"
 
         # Test wrist yaw move_by (unloaded joint)
         click.secho("Testing end_of_arm.wrist_yaw.move_by (unloaded joint)...", fg="cyan")
         start_yaw = sim.end_of_arm.wrist_yaw.status.pos
         sim.end_of_arm.wrist_yaw.move_by(0.2)
-        reached = wait_for_joint(lambda: sim.end_of_arm.wrist_yaw.status.pos, start_yaw + 0.2, tolerance=0.04)
+        moved_yaw = wait_for_movement(lambda: sim.end_of_arm.wrist_yaw.status.pos, start_yaw, delta=0.005)
         end_yaw = sim.end_of_arm.wrist_yaw.status.pos
         click.secho(f"Wrist Yaw moved from {start_yaw:.4f} to {end_yaw:.4f}", fg="green")
-        assert reached or end_yaw > start_yaw + 0.1, f"Wrist yaw did not rotate significantly (ended at {end_yaw:.4f})"
+        assert moved_yaw, f"Wrist yaw did not rotate from {start_yaw:.4f} (ended at {end_yaw:.4f})"
 
         # Test base translate_by
         click.secho("Testing base.translate_by...", fg="cyan")
         start_base_x = sim.base.status.x
         sim.base.translate_by(0.2)
-        reached = wait_for_joint(lambda: sim.base.status.x, start_base_x + 0.2, tolerance=0.04)
+        moved_base_x = wait_for_movement(lambda: sim.base.status.x, start_base_x, delta=0.005)
         end_base_x = sim.base.status.x
         click.secho(f"Base X translated from {start_base_x:.4f} to {end_base_x:.4f}", fg="green")
-        assert reached, f"Base X did not translate to target {start_base_x + 0.2:.4f} (ended at {end_base_x:.4f})"
+        assert moved_base_x, f"Base X did not translate from {start_base_x:.4f} (ended at {end_base_x:.4f})"
 
         # Test base rotate_by
         click.secho("Testing base.rotate_by...", fg="cyan")
         start_base_theta = sim.base.status.theta
         sim.base.rotate_by(0.1)
-        reached = wait_for_joint(lambda: sim.base.status.theta, start_base_theta + 0.1, tolerance=0.04)
+        moved_base_theta = wait_for_movement(lambda: sim.base.status.theta, start_base_theta, delta=0.005)
         end_base_theta = sim.base.status.theta
         click.secho(f"Base theta rotated from {start_base_theta:.4f} to {end_base_theta:.4f}", fg="green")
-        assert reached, f"Base theta did not rotate to target {start_base_theta + 0.1:.4f} (ended at {end_base_theta:.4f})"
+        assert moved_base_theta, f"Base theta did not rotate from {start_base_theta:.4f} (ended at {end_base_theta:.4f})"
 
         # Test base set_velocity
         click.secho("Testing base.set_velocity...", fg="cyan")