Add pixi support to build and run IMU test

.gitattributes

@@ -0,0 +1,3 @@
+# GitHub syntax highlighting
+pixi.lock linguist-language=YAML
+

.gitignore

@@ -4,4 +4,7 @@ build
 CMakeLists.txt.user
 result.txt
 .DS_Store
-.vscode
+.vscode
+.pixi*
+.build*
+*.mat

pixi.toml

@@ -0,0 +1,26 @@
+[project]
+name = "icub-tests"
+version = "0.0.0"
+description = "Set of tests to check the functionalities of a robot"
+authors = ["Martina Gloria <[email protected]>"]
+channels = ["conda-forge", "robotology"]
+platforms = ["linux-64", "win-64", "osx-64"]
+
+[activation]
+scripts = ["set_path.sh"]
+
+[tasks]
+build_imu_test = {cmd = "cmake -DCMAKE_INSTALL_PREFIX=$CMAKE_INSTALL_PREFIX -S. -B.build -DICUB_TESTS_COMPILES_IMU_TEST=ON"}
+compile_imu_test = {cmd = "cmake --build .build", depends_on = ["build_imu_test"]}
+install_imu_test = {cmd = "cmake --install .build", depends_on = ["compile_imu_test"]}
+imu_sim_test = {cmd = "robottestingframework-testrunner --verbose --suite suites/imu-icubGazeboSim.xml", depends_on = ["install_imu_test"]}
+imu_test = {cmd = "robottestingframework-testrunner --verbose --suite suites/imu.xml", depends_on = ["install_imu_test"]}
+
+[dependencies]
+robometry = "*"
+idyntree = "*"
+yarp = "*"
+robot-testing-framework = "*"
+icub-main = "*"
+icub-models = "*"
+robotology-distro = ">=2024.2.0,<2024.3"

set_path.sh

@@ -0,0 +1,4 @@
+export CMAKE_INSTALL_PREFIX=$CONDA_PREFIX
+export YARP_DATA_DIRS=$CMAKE_INSTALL_PREFIX/share/yarp:$CMAKE_INSTALL_PREFIX/share/iCub:$PIXI_PROJECT_ROOT/suites
+export LD_LIBRARY_PATH=$CMAKE_INSTALL_PREFIX/lib/robottestingframework:$PIXI_PROJECT_ROOT/.build/plugins
+export CMAKE_PREFIX_PATH=$CONDA_PREFIX

src/imu/README.md

@@ -0,0 +1,95 @@
+IMU orientation test
+====================
+
+## Prerequisites
+
+If you want to test multiple IMUs at once, the robot must expose in its `yarprobotinterface` configuration file a `multipleanalogsensorsserver` that publishes the orientation measurements for all of available sensors, with a `prefix` that matches exactly the `port` parameter of the test (the default one is `${portprefix}/alljoints/inertials`). 
+
+An example of `alljoints-inertials_wrapper.xml` for iCubV2_* models:
+
+```sh
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
+    <param name="period">      10                           </param>
+    <param name="name"> ${portprefix}/alljoints/inertials   </param>
+
+    <action phase="startup" level="10" type="attach">
+        <paramlist name="networks">
+            <elem name="FirstStrain"> alljoints-inertials_remapper </elem>
+        </paramlist>
+       </action>
+
+    <action phase="shutdown" level="15" type="detach" />
+</device>
+```
+
+and `alljoints-inertials_remapper.xml`:
+
+```sh
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_remapper" type="multipleanalogsensorsremapper">
+        <param name="OrientationSensorsNames">
+            (l_arm_ft r_arm_ft head_imu_0)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="head_imu">  head_inertial_hardware_device </elem>
+                <elem name="left_arm_imu">  left_arm_inertial_hardware_device </elem>
+                <elem name="right_arm_imu">  right_arm_inertial_hardware_device </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
+
+```
+
+## Usage
+
+There are essentially two methods to install and run the IMU orientation test, which are going to be described in the following sections. In both cases, after launching the test, a .mat file containing the relevant measurements involved in the test will be generated.
+
+### robotology-superbuild
+
+If you have installed `icub-tests` as a part of the `robotology superbuild` framework with the [Robot Testing profile](https://github.com/robotology/robotology-superbuild/blob/master/doc/cmake-options.md#robot-testing) activation, i.e. by enabling the `ROBOTOLOGY_ENABLE_ROBOT_TESTING` CMake option of the superbuild, this test, like the others, is already available.
+
+In this case, after compiling and being sure that `yarpserver` is up, you can run:
+
+```sh
+cd robotology-superbuild/src/icub-tests
+robottestingframework-testrunner --suite suites/imu.xml
+```
+
+Otherwise, if you want to launch the test in a simulation environment, in a shell open a `gazebo` environment and import, for example, your iCub model. After that, open a separated shell, and:
+
+```sh
+#set YARP_ROBOT_NAME env variable with the name of the model you imported in gazebo
+#example:
+export YARP_ROBOT_NAME=iCubGazeboV2_7
+cd robotology-superbuild/src/icub-tests
+robottestingframework-testrunner --suite suites/imu-icubGazeboSim.xml
+```
+
+### pixi
+
+If you want to run the test without depending on the whole robotology-superbuild, you can use `pixi`. First of all, be sure to have [`pixi`](https://pixi.sh/#installation) installed. Then, clone `icub-tests` and run the test as a pixi task:
+
+```sh
+git clone https://github.com/robotology/icub-tests
+cd icub-tests
+pixi run imu_test
+```
+
+In simulation, instead, import your model in `gazebo` and then run:
+
+```sh
+#set YARP_ROBOT_NAME env variable with the name of the model you imported in gazebo
+#example:
+export YARP_ROBOT_NAME=iCubGazeboV2_7
+cd icub-tests
+pixi run imu_sim_test
+```

src/imu/imu.h

@@ -18,24 +18,21 @@
 *
 * The purpose of this test is to evaluate the accuracy of the IMU Euler angles measurements.
 * It takes as input the urdf of the robot and make a comparison between the expected values retrieved from the forward kinematics and the ones read from the IMU itself.
-* The test involves the movements of the joints belonging to the part on which the sensor is mounted. The movements are executed sequentially, traversing from the home position to the lower limit, upper limit and back to the home position for each joint.
+* The test involves the movements of the joints belonging to the part on which the sensors are mounted.
 *
-* You can manually modify the suites/contexts/icub/test_imu.ini file depending on the parameters of the test. In this case, after compiling, you can run:
+* You can find the parameters involved in the test in the following table:
 *
-* Example: robottestingframework-testrunner --suite ../suites/imu.xml
+* | Parameter name     | Type               | Required | Description | Notes |
+* |:------------------:|:------------------:|:--------:|:-----------:|:-----:|
+* | robot              | string             | Yes      | The name of the robot. | e.g. icub |
+* | model              | string             | Yes      | The name of the robot model. | e.g. model.urdf |
+* | port               | string             | Yes      | The name of the port streaming IMU data. | e.g. /icub/alljoints/inertials |
+* | remoteControlBoards| vector of string   | Yes      | The list of the controlboards to open. | e.g. ("torso", "head") |
+* | axesNames          | vector of string   | Yes      | The list of the controlled joints. | e.g. ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw") |
+* | sensorsList        | vector of string   | Yes      | The list of the sensors to be tested. | e.g. ("head_imu_0", "l_arm_ft") or ("all")|
+* | maxError           | double             | Yes      | The tolerance on the error. | |
 *
-* This will launch the test and open a yarpscope with the plots of the IMU traces.
-*
-*  Accepts the following parameters:
-* | Parameter name     | Type               | Units | Default Value | Required | Description | Notes |
-* |:------------------:|:------------------:|:-----:|:-------------:|:--------:|:-----------:|:-----:|
-* | robot              | string             | -     | -             | Yes      | The name of the robot. | e.g. icub |
-* | model              | string             | -     | -             | Yes      | The name of the robot model. | e.g. model.urdf |
-* | port               | string             | -     | -             | Yes      | The name of the port streaming IMU data. | e.g. /icub/head/inertials |
-* | remoteControlBoards| vector of string   | -     | -             | Yes      | The list of the controlboards to open. | e.g. ("torso", "head") |
-* | axesNames          | vector of string   | -     | -             | Yes      | The list of the controlled joints. | e.g. ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw") |
-* | sensorsList        | vector of string   | -     | -             | Yes      | The list of the sensors to be tested | e.g. ("head_imu_0", "l_arm_ft") or ("all)|
-* | maxError           | double             | -     | -             | Yes      | The tolerance on the error. | |
+* Further instructions about how to install, configure and run the test can be found in the <a href="http://robotology.github.io/icub-tests/doxygen/doc/html/pages.html">related page</a>.
 */
 
 class Imu : public yarp::robottestingframework::TestCase {

suites/contexts/icub/test_imu.ini

@@ -3,6 +3,5 @@ model                   model.urdf
 port                    /${robotname}/alljoints/inertials
 remoteControlBoards     ("torso", "head", "left_arm", "right_arm")
 axesNames               ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw")
-; sensorsList             ("head_imu_0", "l_arm_ft", "r_arm_ft")
-sensorsList ("all")
+sensorsList             ("all")
 maxError                0.1