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robotology / icub-tests

Contains tests for iCub robot Tests are written using the robot-testing framework
http://robotology.github.io/icub-tests/
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Upgrade the Red Ball Demo Test to the use of Gazebo simulator #58

Closed pattacini closed 3 years ago

pattacini commented 3 years ago

Leveraging the nice addition made in https://github.com/robotology/icub-basic-demos/pull/32 and depending on https://github.com/robotology/icub-basic-demos/pull/34, this PR upgrades the Red Ball Demo Test in order to make use of Gazebo in place of iCub_SIM.

Other notes:

The proposed changes have been successfully tested ✔️ Despite this, let me keep the PR in draft as I'd like to merge it only once @mfussi66 will have finalized his work with the current test configuration.

More to come later.

pattacini commented 3 years ago

Here's a recording of the test 🎥

https://user-images.githubusercontent.com/3738070/125571148-c6d262a2-5e5f-4a0f-825d-ee7af3137f92.mp4

⚠️ The test infrastructure doesn't shut down gracefully, whereas the test per se does. This is due to the buggy interaction between the runner and the localhost.

cc @Nicogene @vvasco @mfussi66

vvasco commented 3 years ago

Very nice! For curiosity, did you disable the grasping?

pattacini commented 3 years ago

For curiosity, did you disable the grasping?

Yep since the purpose of the test was just to verify that gazing and reaching work as expected.