Fix ModelPhotoShootTest test failures #2294
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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 <addisu@openrobotics.org>
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 +/- ##
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Coverage 65.78% 65.79%
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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
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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 <addisu@openrobotics.org>
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 <addisu@openrobotics.org>
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🦟 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.