Fix ModelPhotoShootTest test failures #2294
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
The failures are caused by a change in the DART physics engine (dartsim/dart#1774) which causes joints to recover after reaching or exceeding their position limits. It seems like the model used in this plugin starts off with joint limits violated and recovers after a few iterations. This causes a small movement of the robot. Since the test works by comparing images taken of the robot at the start of simulation and after a few iterations, the small movement causes a discrepancy in the images. The solution here is to run the whole test while simulation is paused. This also cleans up some TestFixture warnings. Signed-off-by: Addisu Z. Taddese <[email protected]>
mjcarroll
approved these changes
Jan 19, 2024
bperseghetti
approved these changes
Jan 19, 2024
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## gz-sim8 #2294 +/- ##
========================================
Coverage 65.78% 65.79%
========================================
Files 327 327
Lines 31212 31212
========================================
+ Hits 20534 20535 +1
+ Misses 10678 10677 -1 ☔ View full report in Codecov by Sentry. |
|
note to self: we need to backport this to Garden and Fortress. |
azeey
added a commit
to azeey/gz-sim
that referenced
this pull request
Mar 19, 2024
The failures are caused by a change in the DART physics engine (dartsim/dart#1774) which causes joints to recover after reaching or exceeding their position limits. It seems like the model used in this plugin starts off with joint limits violated and recovers after a few iterations. This causes a small movement of the robot. Since the test works by comparing images taken of the robot at the start of simulation and after a few iterations, the small movement causes a discrepancy in the images. The solution here is to run the whole test while simulation is paused. This also cleans up some TestFixture warnings. Signed-off-by: Addisu Z. Taddese <[email protected]>
azeey
added a commit
that referenced
this pull request
Apr 23, 2024
The failures are caused by a change in the DART physics engine (dartsim/dart#1774) which causes joints to recover after reaching or exceeding their position limits. It seems like the model used in this plugin starts off with joint limits violated and recovers after a few iterations. This causes a small movement of the robot. Since the test works by comparing images taken of the robot at the start of simulation and after a few iterations, the small movement causes a discrepancy in the images. The solution here is to run the whole test while simulation is paused. This also cleans up some TestFixture warnings. Signed-off-by: Addisu Z. Taddese <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
🦟 Bug fix
Summary
ModelPhotoShoot tests have started failing recently (#2293 (comment)). The failures are caused by a change in the DART physics engine (dartsim/dart#1774) which causes joints to recover after reaching or exceeding their position limits. The debs for this version of DART are in the prerelease repos for testing, so we've only started experiencing this since gazebo-tooling/gzdev#77 which made gz-sim8 use prereleases.
It seems like the model used in the
ModelPhotoShoottests starts off with joint limits violated and recovers after a few iterations. This causes a small movement of the robot. Since the test works by comparing images taken of the robot at the start of simulation and after a few iterations, the small movement causes a discrepancy in the images. The solution here is to run the whole test while simulation is paused.This also cleans up some TestFixture warnings.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.