Test MJCF descriptions with Pinocchio

.github/workflows/test.yml

@@ -65,7 +65,7 @@ jobs:
         strategy:
             matrix:
                 python-version: ["3.9"]
-                loader: ["idyntree", "mujoco", "pinocchio", "pybullet", "robomeshcat", "yourdfpy"]
+                loader: ["idyntree", "mujoco", "pybullet", "robomeshcat", "yourdfpy"]
 
         steps:
             - name: "Checkout sources"
@@ -85,6 +85,38 @@ jobs:
               run: |
                   tox -e loader-${{ matrix.loader }}
 
+    loader-pinocchio:
+        name: "Loader: pinocchio with Python ${{ matrix.python-version }}"
+        runs-on: ubuntu-latest
+
+        strategy:
+            matrix:
+                python-version: ["3.9"]
+
+        defaults:
+            run:
+                # See https://github.com/mamba-org/setup-micromamba?tab=readme-ov-file#about-login-shells
+                shell: bash -leo pipefail {0}
+
+        steps:
+            - name: "Checkout sources"
+              uses: actions/checkout@v4
+
+            - name: "Install Conda environment with Micromamba"
+              uses: mamba-org/setup-micromamba@v1
+              with:
+                  micromamba-version: '1.5.8-0'
+                  environment-name: pinocchio_test_env
+                  create-args: >-
+                      python=${{ matrix.python-version }}
+                      pinocchio>=3.1.0
+                  cache-environment: true
+                  post-cleanup: 'all'
+
+            - name: "Run loader tests"
+              run: |
+                  python -m unittest tests/loaders/test_pinocchio.py --failfast
+
     ci_success:
         name: "CI success"
         runs-on: ubuntu-latest

pyproject.toml

@@ -35,7 +35,7 @@ keywords = ["robot", "description", "urdf", "mjcf"]
 opts = [
     "idyntree >= 8.0.0",
     "mujoco >=3.2.0",
-    "pin >=2.6.10",
+    "pin >= 3.1.0",
     "pybullet >=3.2.6",
     "robomeshcat >=1.0.4",
     "yourdfpy >=0.0.56",

tests/loaders/test_pinocchio.py

@@ -11,7 +11,6 @@
 
 
 class TestPinocchio(unittest.TestCase):
-
     """
     Check that all descriptions are loaded properly in Pinocchio.
     """
@@ -34,11 +33,10 @@ def test(self):
         return test
 
 
-# Add a test function for each URDF description
+# Add a test function for each description
 for name, description in DESCRIPTIONS.items():
-    if description.has_urdf:
-        setattr(
-            TestPinocchio,
-            f"test_{name}",
-            TestPinocchio.get_test_for_description(name),
-        )
+    setattr(
+        TestPinocchio,
+        f"test_{name}",
+        TestPinocchio.get_test_for_description(name),
+    )

tox.ini

@@ -15,13 +15,13 @@ deps =
     idyntree >= 8.0.0
     mujoco >=2.3.5
     numpy >=1.23.4,<2
-    pin >=2.6.14
+    pin >= 3.1.0
     pybullet >=3.2.5
     robomeshcat >= 1.0.4
     yourdfpy >=0.0.56
 commands =
     coverage erase
-    coverage run -m unittest tests
+    coverage run -m unittest tests --failfast
     coverage report --include="robot_descriptions/**"
 
 [testenv:lint]
@@ -32,7 +32,7 @@ deps =
     mujoco >=2.3.5
     mypy
     numpy >=1.23.4,<2
-    pin >=2.6.14
+    pin >= 3.1.0
     pybullet >=3.2.5
     pylint
     robomeshcat >= 1.0.4
@@ -50,37 +50,30 @@ changedir = {toxinidir}/tests/loaders
 deps =
     idyntree >= 8.0.0
 commands =
-    python -m unittest test_idyntree.py
+    python -m unittest test_idyntree.py --failfast
 
 [testenv:loader-mujoco]
 changedir = {toxinidir}/tests/loaders
 deps =
     mujoco >=2.3.5
 commands =
-    python -m unittest test_mujoco.py
-
-[testenv:loader-pinocchio]
-changedir = {toxinidir}/tests/loaders
-deps =
-    pin >=2.6.14
-commands =
-    python -m unittest test_pinocchio.py
+    python -m unittest test_mujoco.py --failfast
 
 [testenv:loader-pybullet]
 changedir = {toxinidir}/tests/loaders
 deps =
     numpy >=1.23.4,<2
     pybullet >=3.2.5
 commands =
-    python -m unittest test_pybullet.py
+    python -m unittest test_pybullet.py --failfast
 
 [testenv:loader-robomeshcat]
 changedir = {toxinidir}/tests/loaders
 deps =
     pycollada >=0.6
     robomeshcat >= 1.0.4
 commands =
-    python -m unittest test_robomeshcat.py
+    python -m unittest test_robomeshcat.py --failfast
 
 [testenv:loader-yourdfpy]
 changedir = {toxinidir}/tests/loaders
@@ -90,7 +83,7 @@ deps =
     trimesh ~=3.16.0
     yourdfpy >=0.0.56
 commands =
-    python -m unittest test_yourdfpy.py
+    python -m unittest test_yourdfpy.py --failfast
 
 [pylint]
 generated-members=mujoco.MjModel, pin.JointModelFreeFlyer, pin.JointModelPX, pin.JointModelPY, pin.JointModelPZ, pin.JointModelPlanar, pin.JointModelRX, pin.JointModelRY, pin.JointModelRZ, pin.JointModelSpherical, pin.JointModelSphericalZYX, pin.JointModelTranslation, pin.Model, pybullet.loadURDF, pybullet.setAdditionalSearchPath