Fix tests and cache containers for CI

[eholum]

Replacing: https://github.com/sea-bass/pyrobosim/pull/159, since I have absolute power now.

Resolves: https://github.com/sea-bass/pyrobosim/issues/85

This PR:

• Fixes one unit test
• Ensures that the run_tests.sh script returns an accurate failure code if tests fail
• Adds caching to/from Dockerhub for the ROS builds to speed up dependency build times

[github-actions[bot]]

Coverage Report

File	Stmts	Miss	Cover	Missing
__init__.py	0	0	100%
core
__init__.py	9	0	100%
dynamics.py	43	0	100%
gazebo.py	136	8	94%	55, 124, 230, 244–248
hallway.py	73	10	86%	59, 61, 63, 96, 158, 196–199, 205
locations.py	126	21	83%	53, 55, 69, 84–85, 87, 98–99, 101–102, 119, 177, 192, 217, 227, 273, 284–285, 287–288, 312
objects.py	69	4	94%	78, 106, 137, 197
robot.py	214	58	72%	140–141, 203, 216, 263, 277–278, 282, 286, 292–293, 295–296, 313–314, 342, 344–345, 366–367, 370–373, 376–378, 403, 407–409, 411, 413–416, 429–431, 435, 437–439, 441, 444–445, 448, 470–471, 479, 484–489, 492, 505
room.py	48	1	97%	113
world.py	571	138	75%	146–147, 183–184, 188, 241–242, 244–245, 273–274, 325, 339–340, 342–343, 372–376, 378–380, 382–383, 386, 390–394, 397–399, 402–409, 440, 476–477, 480, 496, 526–527, 538, 541, 563–567, 569–571, 574–575, 578–581, 583, 586, 588–590, 592–594, 596, 615, 625–629, 664–665, 668–671, 688–689, 695–696, 698–699, 701, 703–704, 706, 708–709, 719–720, 723, 725, 739, 741, 748, 795, 826–827, 846–847, 851–852, 887–888, 890, 907–908, 927–931, 943–946, 958–961, 986–987, 989, 1033–1034, 1166–1167
yaml_utils.py	106	11	89%	64, 68, 152–154, 158–159, 182–183, 207–208
gui
__init__.py	2	0	100%
main.py	152	29	80%	22, 24–26, 28, 49, 178–181, 188–191, 193, 196–202, 206–208, 212–213, 219, 230
world_canvas.py	226	52	76%	34–36, 110, 112, 114, 177, 181, 232–237, 243–244, 246–248, 253–254, 257, 260–262, 265, 270–271, 273, 300, 322–327, 330, 333–334, 349–351, 354, 371, 400, 418–419, 421–422, 464, 480, 487
manipulation
__init__.py	1	0	100%
grasping.py	236	61	74%	102, 110–112, 114–122, 124, 132, 462, 464–466, 470–472, 566–568, 571–575, 583, 586–588, 593–594, 600–604, 607–614, 617–619, 628, 630, 632–638
navigation
__init__.py	4	0	100%
a_star.py	78	10	87%	67–72, 74–76, 165
execution.py	34	4	88%	46–47, 49–50
occupancy_grid.py	139	14	89%	44–47, 49–53, 56, 192, 226, 234, 238
path_planner.py	26	6	76%	32, 35, 37, 41, 84, 89
planner_base.py	59	17	71%	29–35, 51, 57–59, 140–145
prm.py	72	56	22%	40–44, 46, 50–51, 54, 57–64, 66–67, 76–79, 85, 101–102, 104–109, 111–112, 115–118, 121–126, 135, 144, 154, 156, 158–159, 161, 174–178
rrt.py	172	7	95%	228, 353–354, 360–361, 363, 392
trajectory.py	50	0	100%
world_graph.py	70	3	95%	118, 121, 145
planning
__init__.py	3	0	100%
actions.py	66	43	34%	59–60, 62, 66–75, 77–80, 82–86, 88–91, 93–97, 99–100, 102–104, 150–151, 154–158
planning/pddlstream
__init__.py	0	0	100%
defaultmappings.py	9	0	100%
planner.py	40	8	80%	119–126
primitives.py	57	2	96%	68, 208
utils.py	85	3	96%	66, 99–100
utils
__init_\.py	0	0	100%
general.py	33	4	87%	23, 45, 51–52
knowledge.py	139	16	88%	90–91, 100, 135–138, 145, 149–150, 163, 178, 182, 224, 240, 295
motion.py	60	6	90%	56, 67–71
polygon.py	111	0	100%
pose.py	89	3	96%	79, 211, 227
search_graph.py	93	3	96%	241–243
TOTAL	3501	598	82%

Tests	Skipped	Failures	Errors	Time
163	0 :zzz:	0 :x:	0 :fire:	3m 57s :stopwatch:

[sea-bass]

Well, this saved a good chunk of time for the ROS tests!

There's probably a way to also make a Docker image for the ROS-free version so that the PDDLStream building is similarly cached... but definitely not necessary.

I'm good to approve this whenever you tell me it's ready, @eholum !

[eholum]

Well, this saved a good chunk of time for the ROS tests!

Woohoo!

There's probably a way to also make a Docker image for the ROS-free version so that the PDDLStream building is similarly cached... but definitely not necessary.

I started down this road by adding a new non-ros target to the dockerfile but probably don't have the strength of will to tackle that as part of this PR.

I'm good to approve this whenever you tell me it's ready, @eholum !

Right now this is going to cache and push everything to a single "main" image. Probably not a huge deal until someone starts pulling and using images instead of building locally, but as long as your compose file doesn't reference what you're using in CI it won't matter for users. For CI, having multiple PRs open at once and you'll start stepping on each other's toes. We could tag with branch names at the cost of having to occasionally clear out the registry. Do you have a preference?

[sea-bass]

I don't think this repo is active enough / the dependencies will change frequently enough to do per branch caching at this moment.

So I'm OK keeping it as is for now.