SofaDefrost · EulalieCoevoet · Jan 29, 2024 · Jan 9, 2024 · Jan 9, 2024 · Jan 9, 2024
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -13,14 +13,13 @@ on:
 
 jobs:
   build-and-test:
-    name: Run on ${{ matrix.os }} with SOFA ${{ matrix.sofa_branch }} and python ${{ matrix.python_version }}
+    name: Run on ${{ matrix.os }} with SOFA ${{ matrix.sofa_branch }}
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
         os: [ubuntu-20.04, macos-11, windows-2019]
         sofa_branch: [master]
-        python_version: ['3.8']
 
     steps:
       - name: (Mac) Workaround for homebrew
@@ -45,30 +44,15 @@ jobs:
           sofa_root: ${{ github.workspace }}/sofa
           sofa_version: ${{ matrix.sofa_branch }}
           sofa_scope: 'standard'
-          sofa_with_sofapython3: 'false'
-          python_version: '${{ matrix.python_version }}'
-
-      - name: Install SofaPython3
-        shell: bash
-        run: |
-          SofaPython3_ROOT="$GITHUB_WORKSPACE/SofaPython3"
-          mkdir -p "${{ runner.temp }}/sp3_tmp/zip" "${{ runner.temp }}/sp3_tmp/binaries" "$SofaPython3_ROOT"
-          url="https://github.com/sofa-framework/SofaPython3/releases/download"
-          url="${url}/release-${{ matrix.sofa_branch }}/SofaPython3_${{ matrix.sofa_branch }}_python-${{ matrix.python_version }}_for-SOFA-${{ matrix.sofa_branch }}_${{ runner.os }}.zip"
-          echo "Getting SofaPython3 from $url"
-          curl --output "${{ runner.temp }}/sp3_tmp/SofaPython3.zip" -L $url
-          unzip -qq "${{ runner.temp }}/sp3_tmp/SofaPython3.zip" -d "${{ runner.temp }}/sp3_tmp/binaries"
-          mv "${{ runner.temp }}"/sp3_tmp/binaries/SofaPython3_*/* "$SofaPython3_ROOT"
-          echo "SofaPython3_ROOT=$SofaPython3_ROOT" | tee -a $GITHUB_ENV
-          echo "SofaPython3_DIR=$SofaPython3_ROOT/lib/cmake/SofaPython3" | tee -a $GITHUB_ENV
+          sofa_with_sofapython3: 'true'
 
       - name: Install SoftRobots
         shell: bash
         run: |
           SoftRobots_ROOT="$GITHUB_WORKSPACE/SoftRobots"
           mkdir -p "${{ runner.temp }}/sp3_tmp/zip" "${{ runner.temp }}/sp3_tmp/binaries" "$SoftRobots_ROOT"
           url="https://github.com/SofaDefrost/SoftRobots/releases/download"
-          url="${url}/release-${{ matrix.sofa_branch }}/SoftRobots_${{ matrix.sofa_branch }}_python-${{ matrix.python_version }}_for-SOFA-${{ matrix.sofa_branch }}_${{ runner.os }}.zip"
+          url="${url}/release-${{ matrix.sofa_branch }}/SoftRobots_${{ matrix.sofa_branch }}_for-SOFA-${{ matrix.sofa_branch }}_${{ runner.os }}.zip"
           echo "Getting SoftRobots from $url"
           curl --output "${{ runner.temp }}/sp3_tmp/SoftRobots.zip" -L $url
           unzip -qq "${{ runner.temp }}/sp3_tmp/SoftRobots.zip" -d "${{ runner.temp }}/sp3_tmp/binaries"
@@ -88,10 +72,7 @@ jobs:
             -DCMAKE_BUILD_TYPE=Release \
             -DCMAKE_INSTALL_PREFIX="$WORKSPACE_INSTALL_PATH" \
             -DCMAKE_PREFIX_PATH="$SOFA_ROOT/lib/cmake" \
-            -DSOFTROBOTS_BUILD_TESTS=True \
-            -DSOFTROBOTS_IGNORE_ERRORS=True \
-            -DPYTHON_ROOT=$PYTHON_ROOT -DPython_ROOT=$PYTHON_ROOT \
-            -DPYTHON_EXECUTABLE=$PYTHON_EXE -DPython_EXECUTABLE=$PYTHON_EXE"
+            "
           if [ -e "$(command -v ccache)" ]; then
             cmake_options="$cmake_options -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache"
           fi
@@ -152,6 +133,10 @@ jobs:
           ls -la "$WORKSPACE_SRC_PATH"
           echo '------ ls -la "$WORKSPACE_BUILD_PATH" ------'
           ls -la "$WORKSPACE_BUILD_PATH"
+          echo '------ ls -la "$WORKSPACE_BUILD_PATH/bin" ------'
+          ls -la "$WORKSPACE_BUILD_PATH/bin"
+          echo '------ ls -la "$WORKSPACE_BUILD_PATH/tests" ------'
+          ls -la "$WORKSPACE_BUILD_PATH/tests"
           echo '------ ls -la "$WORKSPACE_INSTALL_PATH" ------'
           ls -la "$WORKSPACE_INSTALL_PATH"
           echo '------ ls -la "$WORKSPACE_ARTIFACT_PATH" ------'
@@ -166,7 +151,7 @@ jobs:
         shell: bash
         run: |
           cd $WORKSPACE_BUILD_PATH
-          ./bin/SoftRobots_test${{ steps.sofa.outputs.exe }}
+          ./bin/SoftRobots.Inverse_test${{ steps.sofa.outputs.exe }}
 
   deploy:
     name: Deploy artifacts

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -187,8 +187,11 @@ sofa_create_package_with_targets(
 install(DIRECTORY docs DESTINATION .)
 install(FILES "README.md" "LICENSE.AGPLV3.txt" "LICENSE.AGPLV3.Clause11.txt" "CHANGELOG" DESTINATION .)
 
-option(SOFTROBOTSINVERSE_BUILD_TESTS "Build unit tests" ON)
+# Tests
+# If SOFA_BUILD_TESTS exists and is OFF, then these tests will be auto-disabled
+cmake_dependent_option(SOFTROBOTSINVERSE_BUILD_TESTS "Compile the automatic tests" ON "SOFA_BUILD_TESTS OR NOT DEFINED SOFA_BUILD_TESTS" OFF)
 if(SOFTROBOTSINVERSE_BUILD_TESTS)
+    enable_testing()
     add_subdirectory(tests)
 endif()
 

diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -3,6 +3,7 @@ cmake_minimum_required(VERSION 3.5)
 cmake_policy(SET CMP0048 NEW)
 
 project(SoftRobots.Inverse_test VERSION 1.0)
+find_package(Sofa.Testing REQUIRED)
 
 set(SOURCE_FILES )
 set(HEADER_FILES )
@@ -15,7 +16,7 @@ add_executable(${PROJECT_NAME} ${SOURCE_FILES} ${RC_FILES})
 target_include_directories(${PROJECT_NAME} PRIVATE "${SoftRobots_INCLUDE_DIRS}")
 
 target_link_libraries(${PROJECT_NAME} Sofa.Testing SoftRobots.Inverse)
-add_definitions("-DSOFTROBOTS_TEST_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\"")
+add_definitions("-DSOFTROBOTSINVERSE_TEST_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\"")
 
 add_test(NAME ${PROJECT_NAME} COMMAND ${PROJECT_NAME})
 
diff --git a/tests/component/solver/QPInverseProblemSolverTest.cpp b/tests/component/solver/QPInverseProblemSolverTest.cpp
@@ -71,7 +71,7 @@ struct QPInverseProblemSolverTest : public BaseTest,
         /// Load the scene
         string sceneName = "Finger.scn";
 
-        string fileName  = string(SOFTROBOTS_TEST_DIR) + "/component/solver/scenes/" + sceneName;
+        string fileName  = string(SOFTROBOTSINVERSE_TEST_DIR) + "/component/solver/scenes/" + sceneName;
 
         m_root = core::objectmodel::SPtr_dynamic_cast<simulation::Node>( sofa::simulation::node::load(fileName.c_str()));
 

diff --git a/tests/component/solver/scenes/CubeOnFloor.pyscn b/tests/component/solver/scenes/CubeOnFloor.pyscn
@@ -2,82 +2,79 @@ import Sofa
 
 def createScene(rootNode):
 
-                rootNode.createObject('RequiredPlugin', pluginName='SoftRobots')
-                rootNode.createObject('RequiredPlugin', pluginName='SofaSparseSolver')
-                rootNode.createObject('VisualStyle', displayFlags='showWireframe showVisualModels showBehaviorModels showCollisionModels hideBoundingCollisionModels showForceFields showInteractionForceFields')
+                rootNode.addObject('RequiredPlugin', pluginName='SoftRobots')
+                rootNode.addObject('RequiredPlugin', pluginName='SoftRobots.Inverse')
+                rootNode.addObject('RequiredPlugin', pluginName='SofaSparseSolver')
+                rootNode.addObject('VisualStyle', displayFlags='showWireframe showVisualModels showBehaviorModels showCollisionModels hideBoundingCollisionModels showForceFields showInteractionForceFields')
 
-                rootNode.findData('gravity').value = "0 -9180 0"
+                rootNode.findData('gravity').value = [0, -9180, 0]
                 rootNode.findData('dt').value = 0.01
 
-                rootNode.createObject('FreeMotionAnimationLoop')
-                rootNode.createObject('QPInverseProblemSolver', printLog='0', epsilon="0", maxIterations="1000", tolerance="1e-5")
-                rootNode.createObject('DefaultPipeline', verbose="0")
-                rootNode.createObject('BruteForceBroadPhase', name="N2")
-                rootNode.createObject('BVHNarrowPhase')
-                rootNode.createObject('DefaultContactManager', response="FrictionContactConstraint", responseParams="mu=0.6")
-                rootNode.createObject('LocalMinDistance', name="Proximity", alarmDistance="3", contactDistance="1")
+                rootNode.addObject('FreeMotionAnimationLoop')
+                rootNode.addObject('QPInverseProblemSolver', epsilon=0, maxIterations=1000, tolerance=1e-5)
+                rootNode.addObject('DefaultPipeline')
+                rootNode.addObject('BruteForceBroadPhase')
+                rootNode.addObject('BVHNarrowPhase')
+                rootNode.addObject('DefaultContactManager', response="FrictionContactConstraint", responseParams="mu=0.6")
+                rootNode.addObject('LocalMinDistance', alarmDistance=3, contactDistance=1)
 
-                rootNode.createObject('BackgroundSetting', color='0 0.168627 0.211765')
-                rootNode.createObject('OglSceneFrame', style="Arrows", alignment="TopRight")
+                rootNode.addObject('OglSceneFrame', style="Arrows", alignment="TopRight")
 
 
                 ##########################################
                 # Effector goal for interactive control  #
                 ##########################################
-                goal = rootNode.createChild('goal')
-                goal.createObject('MechanicalObject', name='goalMO', showObject="1", showObjectScale="5", drawMode="1", position = "10 0 0")
+                goal = rootNode.addChild('goal')
+                goal.addObject('MechanicalObject', name='goalMO', showObject=True, showObjectScale=5, drawMode=1, position=[10, 0, 0])
 
 
-		            ##########################################
+                ##########################################
                 # FEM Model                              #
                 ##########################################
-                model = rootNode.createChild('model')
-                model.createObject('EulerImplicitSolver', name='odesolver')
-                model.createObject('SparseLDLSolver', name='preconditioner')
-                model.createObject('RegularGridTopology', name='loader', n="6 6 6", min="-10 -10 -10", max="10 10 10")
-                model.createObject('MechanicalObject', name='tetras', template='Vec3', showIndices=False, showIndicesScale='4e-5')
-                model.createObject('UniformMass', totalMass='0.005')
+                model = rootNode.addChild('model')
+                model.addObject('EulerImplicitSolver')
+                model.addObject('SparseLDLSolver')
+                model.addObject('RegularGridTopology', name='loader', n=[6, 6, 6], min=[-10, -10, -10], max=[10, 10, 10])
+                model.addObject('MechanicalObject', name='tetras', template='Vec3', showIndices=False, showIndicesScale=4e-5)
+                model.addObject('UniformMass', totalMass=0.005)
 
-                model.createObject('ForcePointActuator', name="act", template='Vec3', showForce="1", visuScale="100", direction="1 0 0", indices="90 126 84 120", minForce="0", maxForce="0.5")
+                model.addObject('ForcePointActuator', name="act", template='Vec3', showForce=True, visuScale=100, direction=[1, 0, 0], indices=[90, 126, 84, 120], minForce=0, maxForce=0.5)
 
-                model.createObject('HexahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio='0.49',  youngModulus='600')
-                model.createObject('LinearSolverConstraintCorrection', solverName='preconditioner')
+                model.addObject('HexahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.49,  youngModulus=600)
+                model.addObject('LinearSolverConstraintCorrection')
 
 
                 ##########################################
                 # Effector                               #
                 ##########################################
-                effector = model.createChild('effector')
-                effector.createObject('MechanicalObject', name="effectorPoint",
-                        position=("10 0 0"))
-                effector.createObject('PositionEffector', template='Vec3',
-                        indices="0",
-                        effectorGoal="@../../goal/goalMO.position")
-                effector.createObject('BarycentricMapping', mapForces=False, mapMasses=False)
+                effector = model.addChild('effector')
+                effector.addObject('MechanicalObject', name="effectorPoint", position=[10, 0, 0])
+                effector.addObject('PositionEffector', template='Vec3', indices=[0], effectorGoal=goal.goalMO.position.linkpath)
+                effector.addObject('BarycentricMapping', mapForces=False, mapMasses=False)
 
 
                 ##########################################
                 # Contact                                #
                 ##########################################
-                modelContact = model.createChild('contact')
-                modelContact.createObject('MeshObjLoader', name='loader', filename='mesh/cube.obj', scale="10")
-                modelContact.createObject('MeshTopology', src='@loader', name='topo')
-                modelContact.createObject('MechanicalObject')
-                modelContact.createObject('TriangleCollisionModel', group=1)
-                modelContact.createObject('LineCollisionModel', group=1)
-                modelContact.createObject('PointCollisionModel', group=1)
-                modelContact.createObject('BarycentricMapping')
+                modelContact = model.addChild('contact')
+                modelContact.addObject('MeshObjLoader', name='loader', filename='mesh/cube.obj', scale=10)
+                modelContact.addObject('MeshTopology', src='@loader', name='topo')
+                modelContact.addObject('MechanicalObject')
+                modelContact.addObject('TriangleCollisionModel', group=1)
+                modelContact.addObject('LineCollisionModel', group=1)
+                modelContact.addObject('PointCollisionModel', group=1)
+                modelContact.addObject('BarycentricMapping')
 
 
                 ##########################################
                 # Contact                                #
                 ##########################################
-                floorContact = rootNode.createChild('floorContact')
-                floorContact.createObject('MeshObjLoader', name='loader', filename='mesh/square1.obj', scale="200", rotation="90 0 180", translation="100 -11 -100")
-                floorContact.createObject('MeshTopology', src='@loader', name='topo')
-                floorContact.createObject('MechanicalObject')
-                floorContact.createObject('TriangleCollisionModel', group=2)
-                floorContact.createObject('LineCollisionModel', group=2)
-                floorContact.createObject('PointCollisionModel', group=2)
+                floorContact = rootNode.addChild('floorContact')
+                floorContact.addObject('MeshObjLoader', name='loader', filename='mesh/square1.obj', scale=200, rotation=[90, 0, 180], translation=[100, -11, -100])
+                floorContact.addObject('MeshTopology', src='@loader', name='topo')
+                floorContact.addObject('MechanicalObject')
+                floorContact.addObject('TriangleCollisionModel', group=2)
+                floorContact.addObject('LineCollisionModel', group=2)
+                floorContact.addObject('PointCollisionModel', group=2)
 
                 return rootNode
diff --git a/tests/component/solver/scenes/Finger.scn b/tests/component/solver/scenes/Finger.scn
@@ -17,10 +17,10 @@
                 <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
                 <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
                 <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer] -->
-                <RequiredPlugin name="SoftRobots.Inverse"/> <!-- Needed to use components [PositionEffector] -->
+                <!--<RequiredPlugin name="SoftRobots.Inverse"/>  Needed to use components [PositionEffector] -->
 
                 <FreeMotionAnimationLoop/>
-                <DefaultPipeline  verbose='0'/>
+                <DefaultPipeline />
                 <BruteForceBroadPhase />
                 <BVHNarrowPhase />
                 <DefaultContactManager  response='FrictionContactConstraint'/>