[Test] Better tests and multi OS (#89)

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* [CI] Rerun tests

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* faster tests

* faster tests

.github/unittest/install_dependencies.sh

@@ -0,0 +1,12 @@
+#
+# Copyright (c) 2024.
+# ProrokLab (https://www.proroklab.org/)
+# All rights reserved.
+#
+
+
+python -m pip install --upgrade pip
+python -m pip install flake8 pytest pytest-cov tqdm matplotlib
+python -m pip install cvxpylayers # Navigation heuristic
+
+pip install -e .

.github/workflows/pre_commit.yml

@@ -0,0 +1,27 @@
+
+name: pre-commit
+
+
+on:
+  push:
+    branches: [ $default-branch , "main" , "dev" ]
+  pull_request:
+    branches: [ $default-branch , "main" ]
+
+permissions:
+  contents: read
+
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: [ "3.10" ]
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v3
+      with:
+        python-version: ${{ matrix.python-version }}
+    - uses: pre-commit/[email protected]

.github/workflows/tests-linux.yml

@@ -0,0 +1,43 @@
+
+name: pytest-linux
+
+on:
+  push:
+    branches: [ $default-branch , "main" , "dev" ]
+  pull_request:
+    branches: [ $default-branch , "main" ]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ ubuntu-latest ]
+        python-version: ["3.9", "3.10"]
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v3
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Install dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install python3-opengl xvfb
+        bash .github/unittest/install_dependencies.sh
+    - name: Test with pytest
+      run: |
+        xvfb-run -s "-screen 0 1024x768x24" pytest tests/ --doctest-modules --junitxml=junit/test-results.xml --cov=. --cov-report=xml --cov-report=html
+
+    - if: matrix.python-version == '3.10'
+      name: Upload coverage to Codecov
+      uses: codecov/codecov-action@v3
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+      with:
+        fail_ci_if_error: false

.github/workflows/tests-mac.yml

@@ -0,0 +1,35 @@
+
+
+name: pytest-mac
+
+on:
+  push:
+    branches: [ $default-branch , "main" , "dev" ]
+  pull_request:
+    branches: [ $default-branch , "main" ]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ macos-latest ]
+        python-version: ["3.9", "3.10"]
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v3
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Install dependencies
+      run: |
+        bash .github/unittest/install_dependencies.sh
+    - name: Test with pytest
+      run: |
+        pytest tests/ --doctest-modules --junitxml=junit/test-results.xml --cov=. --cov-report=xml --cov-report=html

.github/workflows/tests-windows.yml

@@ -0,0 +1,35 @@
+
+
+name: pytest-windows
+
+on:
+  push:
+    branches: [ $default-branch , "main" , "dev" ]
+  pull_request:
+    branches: [ $default-branch , "main" ]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ windows-latest ]
+        python-version: ["3.9", "3.10"]
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v3
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Install dependencies
+      run: |
+        bash .github/unittest/install_dependencies.sh
+    - name: Test with pytest
+      run: |
+         pytest tests/ --doctest-modules --junitxml=junit/test-results.xml --cov=. --cov-report=xml --cov-report=html

README.md

@@ -121,8 +121,8 @@ pip install torchrl
 # Logging
 pip installl wandb 
 
-# Save renders
-pip install opencv-python moviepy
+# Rendering
+pip install opencv-python moviepy matplotlib
 
 # Tests
 pip install pytest pyyaml pytest-instafail tqdm
@@ -410,9 +410,9 @@ To create a fake screen you need to have `Xvfb` installed.
 ## TODOS
 
 - [ ] Reset any number of dimensions
-- [ ] Improve test efficiency and add new tests
 - [ ] Implement 1D camera sensor
 - [ ] Implement 2D birds eye view camera sensor
+- [X] Improve test efficiency and add new tests
 - [X] Implement 2D drone dynamics
 - [X] Allow any number of actions
 - [X] Improve VMAS performance

codecov.yml

@@ -0,0 +1,3 @@
+coverage:
+    status:
+        patch: off

docs/source/usage/installation.rst

@@ -48,4 +48,4 @@ You may want to install the following rendering and logging tools
 .. code-block:: console
 
    pip install wandb
-   pip install opencv-python moviepy
+   pip install opencv-python moviepy matplotlib

tests/test_scenarios/test_balance.py

@@ -1,55 +1,60 @@
-#  Copyright (c) 2022-2023.
+#  Copyright (c) 2022-2024.
 #  ProrokLab (https://www.proroklab.org/)
 #  All rights reserved.
-import unittest
+
+import pytest
+import torch
 
 from vmas import make_env
 from vmas.scenarios import balance
 
 
-class TestBalance(unittest.TestCase):
+class TestBalance:
     def setup_env(
         self,
+        n_envs,
         **kwargs,
     ) -> None:
-        super().setUp()
         self.n_agents = kwargs.get("n_agents", 4)
 
         self.continuous_actions = True
-        self.n_envs = 15
         self.env = make_env(
             scenario="balance",
-            num_envs=self.n_envs,
+            num_envs=n_envs,
             device="cpu",
             continuous_actions=self.continuous_actions,
             # Environment specific variables
             **kwargs,
         )
         self.env.seed(0)
 
-    def test_heuristic(self):
+    @pytest.mark.parametrize("n_agents", [2, 5])
+    def test_heuristic(self, n_agents, n_steps=50, n_envs=4):
+        self.setup_env(
+            n_agents=n_agents, random_package_pos_on_line=False, n_envs=n_envs
+        )
+        policy = balance.HeuristicPolicy(self.continuous_actions)
 
-        for n_agents in [2, 5, 6, 10]:
-            self.setup_env(n_agents=n_agents, random_package_pos_on_line=False)
-            policy = balance.HeuristicPolicy(self.continuous_actions)
+        obs = self.env.reset()
 
-            obs = self.env.reset()
-            rews = None
+        prev_package_dist_to_goal = obs[0][:, 8:10]
 
-            for _ in range(100):
-                actions = []
-                for i in range(n_agents):
-                    obs_agent = obs[i]
+        for _ in range(n_steps):
+            actions = []
+            for i in range(n_agents):
+                obs_agent = obs[i]
+                package_dist_to_goal = obs_agent[:, 8:10]
 
-                    action_agent = policy.compute_action(
-                        obs_agent, self.env.agents[i].u_range
-                    )
+                action_agent = policy.compute_action(
+                    obs_agent, self.env.agents[i].u_range
+                )
 
-                    actions.append(action_agent)
+                actions.append(action_agent)
 
-                obs, new_rews, dones, _ = self.env.step(actions)
+            obs, new_rews, dones, _ = self.env.step(actions)
 
-                if rews is not None:
-                    for i in range(self.n_agents):
-                        self.assertTrue((new_rews[i] >= rews[i]).all())
-                    rews = new_rews
+            assert (
+                torch.linalg.vector_norm(package_dist_to_goal, dim=-1)
+                <= torch.linalg.vector_norm(prev_package_dist_to_goal, dim=-1)
+            ).all()
+            prev_package_dist_to_goal = package_dist_to_goal