feat: launch grant experiment by id

src/iiwa_experement/test/test_launch.py

@@ -0,0 +1,95 @@
+"""Launch validation and action wiring."""
+import importlib.util
+from pathlib import Path
+
+import pytest
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
+from launch_ros.actions import Node
+
+from iiwa_experement.runtime_config import validate_experiment_id
+
+
+PACKAGE = Path(__file__).resolve().parents[1]
+LAUNCH = PACKAGE / 'launch' / 'experiment.launch.py'
+
+
+def load_launch_module():
+    spec = importlib.util.spec_from_file_location('experiment_launch', LAUNCH)
+    module = importlib.util.module_from_spec(spec)
+    assert spec.loader is not None
+    spec.loader.exec_module(module)
+    return module
+
+
+@pytest.mark.parametrize('raw, expected', [('1', 1), ('20', 20), (' 11 ', 11)])
+def test_valid_experiment_ids(raw, expected):
+    assert validate_experiment_id(raw) == expected
+
+
+@pytest.mark.parametrize('raw', ['', '0', '21', 'abc', '-1', '1.0', '01', '  '])
+def test_invalid_experiment_ids_are_rejected(raw):
+    with pytest.raises(ValueError):
+        validate_experiment_id(raw)
+
+
+def test_runtime_actions_include_bringup_and_one_scene_spawner():
+    module = load_launch_module()
+    actions = module.runtime_actions(
+        experiment_id=19,
+        scene_config='/tmp/custom scenes.yaml',
+        setting_path='/tmp/run/setting.yaml',
+        rviz='false',
+    )
+    includes = [a for a in actions if isinstance(a, IncludeLaunchDescription)]
+    nodes = [a for a in actions if isinstance(a, Node)]
+    assert len(includes) == 1
+    assert len(nodes) == 1
+    assert 'iiwa_bringup' in repr(includes[0].launch_description_source.location)
+    arguments = dict(includes[0].launch_arguments)
+    assert arguments['simulate'] == 'true'
+    assert arguments['rviz'] == 'false'
+    assert arguments['setting'] == '/tmp/run/setting.yaml'
+    node = nodes[0]
+    assert node.node_package == 'iiwa_experement'
+    assert node.node_executable == 'scene_spawner'
+    assert vars(node)['_Node__node_name'] == 'scene_spawner'
+    assert module.spawner_parameters(19, '/tmp/custom scenes.yaml') == {
+        'experiment_id': 19,
+        'scene_config': '/tmp/custom scenes.yaml',
+    }
+
+
+def test_runtime_actions_can_register_cleanup(tmp_path):
+    from launch.actions import RegisterEventHandler
+
+    module = load_launch_module()
+    actions = module.runtime_actions(
+        experiment_id=1,
+        scene_config='/tmp/scenes.yaml',
+        setting_path='/tmp/setting.yaml',
+        cleanup_dir=str(tmp_path / 'run'),
+    )
+    assert len(actions) == 3
+    assert isinstance(actions[-1], RegisterEventHandler)
+    target = tmp_path / 'run'
+    target.mkdir()
+    (target / 'world.wbt').write_text('temporary', encoding='utf-8')
+    module._remove_directory(None, directory=str(target))
+    assert not target.exists()
+
+
+def test_launch_description_declares_all_arguments_and_validates_in_opaque_function():
+    module = load_launch_module()
+    description = module.generate_launch_description()
+    arguments = {
+        entity.name: entity.default_value
+        for entity in description.entities
+        if isinstance(entity, DeclareLaunchArgument)
+    }
+    assert set(arguments) == {'experiment_id', 'rviz', 'scene_config', 'base_setting'}
+    assert [substitution.text for substitution in arguments['experiment_id']] == ['']
+    assert [substitution.text for substitution in arguments['rviz']] == ['false']
+    assert 'scenes.yaml' in repr(arguments['scene_config'])
+    assert 'setting.yaml' in repr(arguments['base_setting'])
+    opaque = [e for e in description.entities if isinstance(e, OpaqueFunction)]
+    assert len(opaque) == 1

src/iiwa_experement/test/test_package_layout.py

@@ -42,8 +42,10 @@ def test_expected_resources_are_installed():
         'package.xml',
         'doc/experements.md',
         'doc/experiment-scenes.md',
+        'doc/README.md',
         'worlds/grant/iiwa-grant.wbt',
         'config/scenes.yaml',
+        'launch/experiment.launch.py',
     ):
         path = share / relative
         assert path.is_file(), path

src/iiwa_experement/test/test_runtime_config.py

@@ -0,0 +1,112 @@
+"""Temporary runtime files point at installed assets and keep patron."""
+from pathlib import Path
+
+import pytest
+import yaml
+from ament_index_python.packages import get_package_share_directory
+
+from iiwa_experement.runtime_config import (
+    LOCAL_PROTOS,
+    prepare_runtime_files,
+)
+
+
+PACKAGE = Path(__file__).resolve().parents[1]
+CONFIG_SHARE = Path(get_package_share_directory('iiwa_config'))
+DESCRIPTION_SHARE = Path(get_package_share_directory('iiwa_description'))
+PACKAGE_SHARE = Path(get_package_share_directory('iiwa_experement'))
+BASE_SETTING = CONFIG_SHARE / 'config' / 'setting.yaml'
+WORLD_TEMPLATE = PACKAGE_SHARE / 'worlds' / 'grant' / 'iiwa-grant.wbt'
+
+
+def prepare(tmp_path, **overrides):
+    arguments = {
+        'base_setting': BASE_SETTING,
+        'world_template': WORLD_TEMPLATE,
+        'description_share': DESCRIPTION_SHARE,
+        'output_dir': tmp_path / 'run',
+    }
+    arguments.update(overrides)
+    return prepare_runtime_files(**arguments)
+
+
+def test_world_copy_resolves_only_local_protos(tmp_path):
+    world_path, _ = prepare(tmp_path)
+    text = world_path.read_text(encoding='utf-8')
+    for name in LOCAL_PROTOS:
+        absolute = (DESCRIPTION_SHARE / 'resource' / 'protos' / name).resolve()
+        assert absolute.is_file()
+        assert f'EXTERNPROTO "{absolute}"' in text
+    assert 'EXTERNPROTO "../../../iiwa_description' not in text
+    assert text.count('https://raw.githubusercontent.com/cyberbotics/webots/R2025a/') == 3
+    assert world_path == tmp_path / 'run' / 'iiwa-grant.wbt'
+
+
+def test_setting_copy_disables_random_objects_and_keeps_patron_and_camera(tmp_path):
+    world_path, setting_path = prepare(tmp_path)
+    data = yaml.safe_load(setting_path.read_text(encoding='utf-8'))
+    webots = data['digital_twin']['webots']
+    assert webots['world'] == str(world_path.resolve())
+    assert webots['objects']['enabled'] is False
+    assert webots['objects']['count'] == 0
+    assert data['tool']['active'] == 'patron'
+    assert webots['transform'] == '-0.25 0 0.79'
+    assert webots['rotation'] == '0 0 1 0'
+    assert webots['controller_timer'] == '50'
+    assert any(
+        str(camera).endswith('config/cameras/d455_top.yaml')
+        for camera in webots['cameras']
+    )
+    assert data['controller']['controller_path'].endswith('moveit/iiwa_controller.yaml')
+    assert data['digital_twin']['rviz']['config'].endswith('rviz_moveit.rviz')
+
+
+def test_prepared_setting_is_accepted_by_the_existing_loader(tmp_path):
+    _, setting_path = prepare(tmp_path)
+    from iiwa_utils.setting_loader import build_settings
+
+    settings = build_settings(str(setting_path), check_files=True)
+    assert settings.tool.active == 'patron'
+    assert settings.digital_twin.webots.objects.enabled is False
+    assert settings.digital_twin.webots.objects.count == 0
+    assert settings.digital_twin.webots.cameras
+    assert settings.digital_twin.webots.cameras[0].endswith('d455_top.yaml')
+
+
+def test_tool_active_xacro_and_generated_urdf_include_patron(tmp_path):
+    from iiwa_utils import converter
+    from iiwa_utils.setting_loader import build_settings
+
+    tool_active = DESCRIPTION_SHARE / 'urdf' / 'tools' / 'tool_active.xacro'
+    assert 'patron.xacro' in tool_active.read_text(encoding='utf-8')
+    _, setting_path = prepare(tmp_path)
+    settings = build_settings(str(setting_path), check_files=True)
+    urdf = converter.load_robot_description(
+        settings.robot.description,
+        settings.robot.name,
+        {
+            'simulate': 'true',
+            'initial_positions_file': settings.controller.moveit.initial_positions,
+            'joint_limits_file': settings.controller.moveit.joint_limits,
+        },
+    )
+    assert 'name="patron"' in urdf
+    assert 'link name="patron"' in urdf
+    assert 'patron.dae' in urdf
+
+
+def test_missing_world_template_is_reported(tmp_path):
+    with pytest.raises(FileNotFoundError, match='world template'):
+        prepare(tmp_path, world_template=tmp_path / 'missing.wbt')
+
+
+def test_missing_proto_is_reported(tmp_path):
+    empty_description = tmp_path / 'description'
+    (empty_description / 'resource' / 'protos').mkdir(parents=True)
+    with pytest.raises(FileNotFoundError, match='CollaborativeRobotTable.proto'):
+        prepare(tmp_path, description_share=empty_description)
+
+
+def test_missing_base_setting_is_reported(tmp_path):
+    with pytest.raises(FileNotFoundError, match='base settings'):
+        prepare(tmp_path, base_setting=tmp_path / 'missing.yaml')