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Merged
merged 5 commits into from
Jul 24, 2019
Merged

CI fix #68

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87bdcb3
CIRCLECI: git clone submodules
portaloffreedom Jul 24, 2019
8fd69e1
Added missing depencency in dockerfile
portaloffreedom Jul 24, 2019
90ffc66
Docker: missing nlopt dependency
portaloffreedom Jul 24, 2019
88a8867
Docker: update build to use custom gazebo-revolve
portaloffreedom Jul 24, 2019
b87c6f9
fix unit tests
portaloffreedom Jul 24, 2019
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2 changes: 2 additions & 0 deletions .circleci/config.yml
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Expand Up @@ -5,6 +5,8 @@ jobs:
- image: circleci/python:3-stretch-node
steps:
- checkout
- run: git submodule sync
- run: git submodule update --init

- setup_remote_docker:
docker_layer_caching: true
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20 changes: 6 additions & 14 deletions Dockerfile
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@@ -1,25 +1,17 @@
FROM ubuntu:bionic
FROM cigroup/gazebo:gazebo10-revolve

# Dependencies
RUN apt-get update && \
apt-get install -y build-essential \
libboost-all-dev \
RUN apt-get update && apt-get upgrade -y && apt-get install -y \
build-essential \
cmake \
curl \
cppcheck \
doxygen \
git \
gsl-bin libgsl0-dev \
mercurial \
pkg-config \
python \
libgsl0-dev \
python3-pip \
libyaml-cpp-dev \
xsltproc \
libcairo2-dev \
graphviz \
libgazebo9-dev \
gazebo9 && \
libeigen3-dev \
libnlopt-dev && \
apt-get clean && \
rm -rf /var/lib/apt/lists/*

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4 changes: 4 additions & 0 deletions docker/build_revolve.sh
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Expand Up @@ -3,6 +3,10 @@ set -e

# Build Revolve
cd /revolve

# use version 10
sed -i 's/ find_package(gazebo 9 REQUIRED)/ find_package(gazebo 10 REQUIRED)/g' cpprevolve/revolve/gazebo/CMakeLists.txt

mkdir -p build && cd build
cmake .. -DCMAKE_BUILD_TYPE="Release"
make -j4
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11 changes: 5 additions & 6 deletions test_py/plasticonding/test_development.py
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Expand Up @@ -10,7 +10,7 @@
class TestPlastiCoding(unittest.TestCase):
def setUp(self):
self.conf = pyrevolve.genotype.plasticoding.plasticoding.PlasticodingConfig()
self.genotype = pyrevolve.genotype.plasticoding.plasticoding.initialization.random_initialization(self.conf)
self.genotype = pyrevolve.genotype.plasticoding.plasticoding.initialization.random_initialization(self.conf, 176)

def test_development(self):
robot = self.genotype.develop()
Expand All @@ -33,7 +33,7 @@ def test_read_write_file(self):

self.genotype.export_genotype(file1)

genotype2 = pyrevolve.genotype.plasticoding.plasticoding.Plasticoding(self.conf)
genotype2 = pyrevolve.genotype.plasticoding.plasticoding.Plasticoding(self.conf, self.genotype.id)
genotype2.id = self.genotype.id
genotype2.load_genotype(file1)
genotype2.export_genotype(file2)
Expand All @@ -47,8 +47,7 @@ def test_read_write_file(self):
file2_txt.close()

def test_collision(self):
genotype_180 = pyrevolve.genotype.plasticoding.plasticoding.Plasticoding(self.conf)
genotype_180.id = "genotype{}".format(180)
genotype_180 = pyrevolve.genotype.plasticoding.plasticoding.Plasticoding(self.conf, 180)
genotype_180.load_genotype(os.path.join(LOCAL_FOLDER, 'genotype_180.txt'))
robot = genotype_180.develop()
robot.update_substrate(raise_for_intersections=True)
Expand All @@ -58,8 +57,8 @@ class Test176(unittest.TestCase):
def setUp(self):
self.conf = pyrevolve.genotype.plasticoding.plasticoding.PlasticodingConfig()

self.genotype = pyrevolve.genotype.plasticoding.plasticoding.Plasticoding(self.conf)
self.genotype.id = "genotype{}".format(176)
_id = 176
self.genotype = pyrevolve.genotype.plasticoding.plasticoding.Plasticoding(self.conf, _id)
self.genotype.load_genotype(os.path.join(LOCAL_FOLDER, 'genotype_176.txt'))

self.robot = self.genotype.develop()
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