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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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a few atlas example failures on new buildserver #1096

Closed RussTedrake closed 9 years ago

RussTedrake commented 9 years ago

these happen reliably on the nightly tests

Site: thrashcan Build Name: master-RobotLocomotion-master Build Server Directory: /tmp/drake-master/drake-32276 CDash: http://kobol.csail.mit.edu/cd/viewTest.php?onlyfailed&buildid=wrong site

Most recent commits to drake included in this build:

0c13a16 Merge pull request #1089 from hongkai-dai/test-IK-cpp
7da738c no snopt_cpp in CMakeLists anymore, it is called snopt_c
b667715 Merge branch 'master' of
https://github.com/RobotLocomotion/drake-private; branch 'master' of
https://github.com/RobotLocomotion/drake
6d720ff Merge pull request #1080 from RussTedrake/distcomp_versions
665ef45 Merge pull request #1065 from
hongkai-dai/add-bodySpatialMotionPDmex

403 tests run: 379 passed 0 cancelled (with missing dependencies ) 12 timed out 12 failed 2 known issue #310: testLCMPlant fails on parallel build because it can't keep up with realtime 4 known issue #374: failing imu unit tests 1 known issue #466: implement Jdot*v for drakeFunction.kinematic methods 1 known issue #585: testIndividualCentersOfPressure fails 1 known issue #723: runDRCPracticeTerrain errors out with probability 3 unknown

examples/Atlas/runAtlasBalancingWithContactSensor (unknown issue)

error_id = Simulink:SFunctions:SFcnErrorStatus
error_message = Error reported by S-function 'DCSFunction' in
'MIMOCascade_1936428/system1/system2/system2/system2/system2/DrakeSys':

DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback.
See additional debugging information above
is_segfault = 0

                           < M A T L A B (R) >
                 Copyright 1984-2014 The MathWorks, Inc.
                   R2014a (8.3.0.532) 64-bit (glnxa64)
                            February 11, 2014

To get started, type one of these: helpwin, helpdesk, or demo.
For product information, visit www.mathworks.com.

To reproduce this test use rng(1127269042,'twister')

Calling addpath_gurobi
Calling addpath_snopt
Calling addpath_spotless
[Warning: Map ptr is NULL.  Assuming flat terrain at z=0] 
[Warning: Map ptr is NULL.  Assuming flat terrain at z=0] 
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
In BulletModel::findClosestPointsBtwElements: No closest point found!
DrakeSystem S-Function: error when calling ''update'' with the following
arguments:
 Atlas with properties:

                              x0: [84x1 double]
                      hand_right: 0
                 hand_right_kind: 'none'
                       hand_left: 0
                  hand_left_kind: 'none'
               left_full_support: [1x1 RigidBodySupportState]
                left_toe_support: [1x1 RigidBodySupportState]
              right_full_support: [1x1 RigidBodySupportState]
               right_toe_support: [1x1 RigidBodySupportState]
    left_full_right_full_support: [1x1 RigidBodySupportState]
     left_toe_right_full_support: [1x1 RigidBodySupportState]
     left_full_right_toe_support: [1x1 RigidBodySupportState]
                   atlas_version: 5
                  external_force: 0
                fixed_point_file:
'/tmp/drake-master/drake-32276/examples...'
         default_footstep_params: [1x1 struct]
          default_walking_params: [1x1 struct]
                        timestep: 0.0020
                            twoD: 0
                position_control: 0
                       LCP_cache: [1x1 SharedDataHandle]
                   enable_fastqp: 1
      lcmgl_contact_forces_scale: 0
            z_inactive_guess_tol: 0.0100
               multiple_contacts: 0
                  gurobi_present: 1
                            umin: [30x1 double]
                            umax: [30x1 double]
                 warning_manager: [1x1 WarningManager]
                    foot_body_id: [1x1 struct]
                   foot_frame_id: [1x1 struct]
                    toe_frame_id: [1x1 struct]
                inner_foot_shape: []
   default_body_collision_slices: []
    body_collision_slice_heights: []

   0.1800

  NaN
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    0
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    0

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Error using +
Matrix dimensions must agree.

Error in TimeSteppingRigidBodyManipulator/solveLCP (line 345)
             possible_limit_indices = (phiL + h*JL*qd) <
obj.z_inactive_guess_tol;

Error in ContactForceTorqueSensor/update (line 89)
     [tsmanip,z] = tsmanip.solveLCP(t,x,u);

Error in TimeSteppingRigidBodyManipulator/update (line 228)
           [obj,xdn_sensor] = update(obj.sensor{i},obj,t,x,u);

Error in SimulinkModelHandle/sim (line 112)
     varargout{:} = sim(obj.name,varargin{:});

Error in DynamicalSystem/simulate (line 116)
simout = sim(mdl,pstruct);

Error in runAtlasBalancingWithContactSensor (line 153)
traj = simulate(sys,[0 2.0],x0);

Error in fevalPackageSafe (line 21)
 feval(f);
Error using SimulinkModelHandle/sim (line 112)
Error reported by S-function 'DCSFunction' in
'MIMOCascade_1936428/system1/system2/system2/system2/system2/DrakeSys':

DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback.
See additional debugging information above

Error in DynamicalSystem/simulate (line 116)
simout = sim(mdl,pstruct);

Error in runAtlasBalancingWithContactSensor (line 153)
traj = simulate(sys,[0 2.0],x0);

Error in fevalPackageSafe (line 21)
 feval(f);

<test_name>examples/Atlas/runAtlasBalancingWithContactSensor</test_name>
<error_id>Simulink:SFunctions:SFcnErrorStatus</error_id>
<error_message>Error reported by S-function 'DCSFunction' in
'MIMOCascade_1936428/system1/system2/system2/system2/system2/DrakeSys':

DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback.
See additional debugging information above</error_message> 
matlab exit code: 1

examples/Atlas/runAtlasHandControl (unknown issue)

error_id = Simulink:SFunctions:SFcnErrorStatus
error_message = Error reported by S-function 'DCSFunction' in
'MIMOCascade_2034419/system1/system2/system2/system2/system1/system1/system2/DrakeSys':

DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback.
See additional debugging information above
is_segfault = 0

                           < M A T L A B (R) >
                 Copyright 1984-2014 The MathWorks, Inc.
                   R2014a (8.3.0.532) 64-bit (glnxa64)
                            February 11, 2014

To get started, type one of these: helpwin, helpdesk, or demo.
For product information, visit www.mathworks.com.

To reproduce this test use rng(1127271023,'twister')

Calling addpath_gurobi
Calling addpath_snopt
Calling addpath_spotless
[Warning: still need to add time derivatives of position constraints] 
[> In WarningManager>WarningManager.warnOnce at 21
 In Manipulator.Manipulator>Manipulator.updatePositionEqualityConstraint
at 192
 In Manipulator.Manipulator>Manipulator.addPositionEqualityConstraint at
169
 In RigidBodyManipulator.addRobotFromURDF>parseCable at 532
 In RigidBodyManipulator.addRobotFromURDF>parseRobot at 135
 In RigidBodyManipulator.addRobotFromURDF at 54
 In
TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.addRobotFromURDF at 833
 In Atlas>Atlas.Atlas at 62
 In runAtlasHandControl at 31
 In fevalPackageSafe at 21] 
[Warning: Map ptr is NULL.  Assuming flat terrain at z=0] 
[Warning: Map ptr is NULL.  Assuming flat terrain at z=0] 
DrakeSystem S-Function: error when calling ''update'' with the following
arguments:
 Atlas with properties:

                              x0: [112x1 double]
                      hand_right: 1
                 hand_right_kind: 'robotiq_tendons'
                       hand_left: 1
                  hand_left_kind: 'robotiq_tendons'
               left_full_support: [1x1 RigidBodySupportState]
                left_toe_support: [1x1 RigidBodySupportState]
              right_full_support: [1x1 RigidBodySupportState]
               right_toe_support: [1x1 RigidBodySupportState]
    left_full_right_full_support: [1x1 RigidBodySupportState]
     left_toe_right_full_support: [1x1 RigidBodySupportState]
     left_full_right_toe_support: [1x1 RigidBodySupportState]
                   atlas_version: 5
                  external_force: 0
                fixed_point_file:
'/tmp/drake-master/drake-32276/examples...'
         default_footstep_params: [1x1 struct]
          default_walking_params: [1x1 struct]
                        timestep: 0.0020
                            twoD: 0
                position_control: 0
                       LCP_cache: [1x1 SharedDataHandle]
                   enable_fastqp: 1
      lcmgl_contact_forces_scale: 0
            z_inactive_guess_tol: 0.0100
               multiple_contacts: 0
                  gurobi_present: 1
                            umin: [32x1 double]
                            umax: [32x1 double]
                 warning_manager: [1x1 WarningManager]
                    foot_body_id: [1x1 struct]
                   foot_frame_id: [1x1 struct]
                    toe_frame_id: [1x1 struct]
                inner_foot_shape: []
   default_body_collision_slices: []
    body_collision_slice_heights: []

   0.1780

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   0.2409
   0.2409

Error using +
Matrix dimensions must agree.

Error in TimeSteppingRigidBodyManipulator/solveLCP (line 345)
             possible_limit_indices = (phiL + h*JL*qd) <
obj.z_inactive_guess_tol;

Error in TimeSteppingRigidBodyManipulator/update (line 198)
         [obj,z,Mqdn,wqdn] = solveLCP(obj,t,x,u);

Error in SimulinkModelHandle/sim (line 112)
     varargout{:} = sim(obj.name,varargin{:});

Error in DynamicalSystem/simulate (line 116)
simout = sim(mdl,pstruct);

Error in runAtlasHandControl (line 264)
traj = simulate(sys,[0 2],x0);

Error in fevalPackageSafe (line 21)
 feval(f);
Error using SimulinkModelHandle/sim (line 112)
Error reported by S-function 'DCSFunction' in
'MIMOCascade_2034419/system1/system2/system2/system2/system1/system1/system2/DrakeSys':

DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback.
See additional debugging information above

Error in DynamicalSystem/simulate (line 116)
simout = sim(mdl,pstruct);

Error in runAtlasHandControl (line 264)
traj = simulate(sys,[0 2],x0);

Error in fevalPackageSafe (line 21)
 feval(f);

<test_name>examples/Atlas/runAtlasHandControl</test_name>
<error_id>Simulink:SFunctions:SFcnErrorStatus</error_id>
<error_message>Error reported by S-function 'DCSFunction' in
'MIMOCascade_2034419/system1/system2/system2/system2/system1/system1/system2/DrakeSys':

DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback.
See additional debugging information above</error_message> 
matlab exit code: 1

examples/PlanarNLink/test/polyIK (unknown issue)

error_id = MATLAB:nomem
error_message = Out of memory. Type HELP MEMORY for your options.
is_segfault = 0

                           < M A T L A B (R) >
                 Copyright 1984-2014 The MathWorks, Inc.
                   R2014a (8.3.0.532) 64-bit (glnxa64)
                            February 11, 2014

To get started, type one of these: helpwin, helpdesk, or demo.
For product information, visit www.mathworks.com.

To reproduce this test use rng(1127374438,'twister')

Calling addpath_spotless
Calling addpath_gloptipoly3
Calling addpath_sedumi
Some variables are not represented in the relaxation

relaxation_order =

    2

relaxation_order =

    3

Error using getada1
Out of memory. Type HELP MEMORY for your options.

Error in sedumi (line 452)
       ADA = getada1(ADA, A, Ablkjc(:,3), Aord.lqperm, d, K.qblkstart);

Error in msdp/msol (line 83)
[dual_vars,y,info] = sedumi(P.A,P.b,P.c,P.K,pars); % modified by Milan
Korda

Error in PolynomialProgram/gloptipoly (line 53)
 [exitflag,objval] = msol(prog);

Error in polyIK (line 38)
[x,objval,exitflag] = gloptipoly(prog);

Error in fevalPackageSafe (line 21)
 feval(f);

<test_name>examples/PlanarNLink/test/polyIK</test_name>
<error_id>MATLAB:nomem</error_id> <error_message>Out of memory. Type HELP
MEMORY for your options.</error_message> 
matlab exit code: 1
gizatt commented 9 years ago

A common point is that those two tests use the old controller, which may have stopped being properly supported and testing now that we've properly switched over. Switching the contact sensor test over to the next split controller fixed the issue; I'll switch the other over as well. The only remaining tests that appear to use the old controller are runAtlasJumping and runAtlasRunning... perhaps they're happier because the robot model isn't being changed in those cases?

On Fri, May 8, 2015 at 4:02 PM, Russ Tedrake notifications@github.com wrote:

these happen reliably on the nightly tests

Site: thrashcan Build Name: master-RobotLocomotion-master Build Server Directory: /tmp/drake-master/drake-32276 CDash: http://kobol.csail.mit.edu/cd/viewTest.php?onlyfailed&buildid=wrong site

Most recent commits to drake included in this build:

0c13a16 Merge pull request #1089 from hongkai-dai/test-IK-cpp 7da738c no snopt_cpp in CMakeLists anymore, it is called snopt_c b667715 Merge branch 'master' ofhttps://github.com/RobotLocomotion/drake-private; branch 'master' ofhttps://github.com/RobotLocomotion/drake 6d720ff https://github.com/RobotLocomotion/drake6d720ff Merge pull request #1080 from RussTedrake/distcomp_versions 665ef45 Merge pull request #1065 from hongkai-dai/add-bodySpatialMotionPDmex

403 tests run: 379 passed 0 cancelled (with missing dependencies ) 12 timed out 12 failed 2 known issue #310 https://github.com/RobotLocomotion/drake/issues/310: testLCMPlant fails on parallel build because it can't keep up with realtime 4 known issue #374 https://github.com/RobotLocomotion/drake/issues/374: failing imu unit tests 1 known issue #466 https://github.com/RobotLocomotion/drake/issues/466: implement Jdot*v for drakeFunction.kinematic methods 1 known issue #585 https://github.com/RobotLocomotion/drake/issues/585: testIndividualCentersOfPressure fails 1 known issue #723 https://github.com/RobotLocomotion/drake/issues/723: runDRCPracticeTerrain errors out with probability 3 unknown

examples/Atlas/runAtlasBalancingWithContactSensor (unknown issue)

error_id = Simulink:SFunctions:SFcnErrorStatus error_message = Error reported by S-function 'DCSFunction' in 'MIMOCascade_1936428/system1/system2/system2/system2/system2/DrakeSys':

DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback. See additional debugging information above is_segfault = 0

                       < M A T L A B (R) >
             Copyright 1984-2014 The MathWorks, Inc.
               R2014a (8.3.0.532) 64-bit (glnxa64)
                        February 11, 2014

To get started, type one of these: helpwin, helpdesk, or demo. For product information, visit www.mathworks.com.

To reproduce this test use rng(1127269042,'twister')

Calling addpath_gurobi Calling addpath_snopt Calling addpath_spotless [�Warning: Map ptr is NULL. Assuming flat terrain at z=0]� [�Warning: Map ptr is NULL. Assuming flat terrain at z=0]� In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! DrakeSystem S-Function: error when calling ''update'' with the followingarguments: Atlas with properties: x0: [84x1 double] hand_right: 0 hand_right_kind: 'none' hand_left: 0 hand_left_kind: 'none' left_full_support: [1x1 RigidBodySupportState] left_toe_support: [1x1 RigidBodySupportState] right_full_support: [1x1 RigidBodySupportState] right_toe_support: [1x1 RigidBodySupportState] left_full_right_full_support: [1x1 RigidBodySupportState] left_toe_right_full_support: [1x1 RigidBodySupportState] left_full_right_toe_support: [1x1 RigidBodySupportState] atlas_version: 5 external_force: 0 fixed_point_file:'/tmp/drake-master/drake-32276/examples...' default_footstep_params: [1x1 struct] default_walking_params: [1x1 struct] timestep: 0.0020 twoD: 0 position_control: 0 LCP_cache: [1x1 SharedDataHandle] enable_fastqp: 1 lcmgl_contact_forces_scale: 0 z_inactive_guess_tol: 0.0100 multiple_contacts: 0 gurobi_present: 1 umin: [30x1 double] umax: [30x1 double] warning_manager: [1x1 WarningManager] foot_body_id: [1x1 struct] foot_frame_id: [1x1 struct] toe_frame_id: [1x1 struct] inner_foot_shape: [] default_body_collision_slices: [] body_collision_slice_heights: []

0.1800

NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN 0 0 0 0 0 0 0 0 0 0 0 0

NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN

Error using + Matrix dimensions must agree.

Error in TimeSteppingRigidBodyManipulator/solveLCP (line 345) possible_limit_indices = (phiL + h_JL_qd) < obj.z_inactive_guess_tol;

Error in ContactForceTorqueSensor/update (line 89) [tsmanip,z] = tsmanip.solveLCP(t,x,u);

Error in TimeSteppingRigidBodyManipulator/update (line 228) [obj,xdn_sensor] = update(obj.sensor{i},obj,t,x,u);

Error in SimulinkModelHandle/sim (line 112) varargout{:} = sim(obj.name,varargin{:});

Error in DynamicalSystem/simulate (line 116) simout = sim(mdl,pstruct);

Error in runAtlasBalancingWithContactSensor (line 153) traj = simulate(sys,[0 2.0],x0);

Error in fevalPackageSafe (line 21) feval(f); Error using SimulinkModelHandle/sim (line 112) Error reported by S-function 'DCSFunction' in'MIMOCascade_1936428/system1/system2/system2/system2/system2/DrakeSys':

DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback. See additional debugging information above

Error in DynamicalSystem/simulate (line 116) simout = sim(mdl,pstruct);

Error in runAtlasBalancingWithContactSensor (line 153) traj = simulate(sys,[0 2.0],x0);

Error in fevalPackageSafe (line 21) feval(f);

examples/Atlas/runAtlasBalancingWithContactSensorSimulink:SFunctions:SFcnErrorStatusError reported by S-function 'DCSFunction' in'MIMOCascade_1936428/system1/system2/system2/system2/system2/DrakeSys': DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback. See additional debugging information above matlab exit code: 1 examples/Atlas/runAtlasHandControl (unknown issue) error_id = Simulink:SFunctions:SFcnErrorStatus error_message = Error reported by S-function 'DCSFunction' in 'MIMOCascade_2034419/system1/system2/system2/system2/system1/system1/system2/DrakeSys': DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback. See additional debugging information above is_segfault = 0 ``` < M A T L A B (R) > Copyright 1984-2014 The MathWorks, Inc. R2014a (8.3.0.532) 64-bit (glnxa64) February 11, 2014 ``` To get started, type one of these: helpwin, helpdesk, or demo. For product information, visit www.mathworks.com. To reproduce this test use rng(1127271023,'twister') Calling addpath_gurobi Calling addpath_snopt Calling addpath_spotless [�Warning: still need to add time derivatives of position constraints]� [�> In WarningManager>WarningManager.warnOnce at 21 In Manipulator.Manipulator>Manipulator.updatePositionEqualityConstraint at 192 In Manipulator.Manipulator>Manipulator.addPositionEqualityConstraint at169 In RigidBodyManipulator.addRobotFromURDF>parseCable at 532 In RigidBodyManipulator.addRobotFromURDF>parseRobot at 135 In RigidBodyManipulator.addRobotFromURDF at 54 In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.addRobotFromURDF at 833 In Atlas>Atlas.Atlas at 62 In runAtlasHandControl at 31 In fevalPackageSafe at 21]� [�Warning: Map ptr is NULL. Assuming flat terrain at z=0]� [�Warning: Map ptr is NULL. Assuming flat terrain at z=0]� DrakeSystem S-Function: error when calling ''update'' with the followingarguments: Atlas with properties: x0: [112x1 double] hand_right: 1 hand_right_kind: 'robotiq_tendons' hand_left: 1 hand_left_kind: 'robotiq_tendons' left_full_support: [1x1 RigidBodySupportState] left_toe_support: [1x1 RigidBodySupportState] right_full_support: [1x1 RigidBodySupportState] right_toe_support: [1x1 RigidBodySupportState] left_full_right_full_support: [1x1 RigidBodySupportState] left_toe_right_full_support: [1x1 RigidBodySupportState] left_full_right_toe_support: [1x1 RigidBodySupportState] atlas_version: 5 external_force: 0 fixed_point_file:'/tmp/drake-master/drake-32276/examples...' default_footstep_params: [1x1 struct] default_walking_params: [1x1 struct] timestep: 0.0020 twoD: 0 position_control: 0 LCP_cache: [1x1 SharedDataHandle] enable_fastqp: 1 lcmgl_contact_forces_scale: 0 z_inactive_guess_tol: 0.0100 multiple_contacts: 0 gurobi_present: 1 umin: [32x1 double] umax: [32x1 double] warning_manager: [1x1 WarningManager] foot_body_id: [1x1 struct] foot_frame_id: [1x1 struct] toe_frame_id: [1x1 struct] inner_foot_shape: [] default_body_collision_slices: [] body_collision_slice_heights: [] 0.1780 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN ``` NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN ``` 0.2409 0.2409 Error using + Matrix dimensions must agree. Error in TimeSteppingRigidBodyManipulator/solveLCP (line 345) possible_limit_indices = (phiL + h_JL_qd) < obj.z_inactive_guess_tol; Error in TimeSteppingRigidBodyManipulator/update (line 198) [obj,z,Mqdn,wqdn] = solveLCP(obj,t,x,u); Error in SimulinkModelHandle/sim (line 112) varargout{:} = sim(obj.name,varargin{:}); Error in DynamicalSystem/simulate (line 116) simout = sim(mdl,pstruct); Error in runAtlasHandControl (line 264) traj = simulate(sys,[0 2],x0); Error in fevalPackageSafe (line 21) feval(f); Error using SimulinkModelHandle/sim (line 112) Error reported by S-function 'DCSFunction' in'MIMOCascade_2034419/system1/system2/system2/system2/system1/system1/system2/DrakeSys': DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback. See additional debugging information above Error in DynamicalSystem/simulate (line 116) simout = sim(mdl,pstruct); Error in runAtlasHandControl (line 264) traj = simulate(sys,[0 2],x0); Error in fevalPackageSafe (line 21) feval(f); examples/Atlas/runAtlasHandControlSimulink:SFunctions:SFcnErrorStatusError reported by S-function 'DCSFunction' in'MIMOCascade_2034419/system1/system2/system2/system2/system1/system1/system2/DrakeSys': DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback. See additional debugging information above matlab exit code: 1 examples/PlanarNLink/test/polyIK (unknown issue) error_id = MATLAB:nomem error_message = Out of memory. Type HELP MEMORY for your options. is_segfault = 0 ``` < M A T L A B (R) > Copyright 1984-2014 The MathWorks, Inc. R2014a (8.3.0.532) 64-bit (glnxa64) February 11, 2014 ``` To get started, type one of these: helpwin, helpdesk, or demo. For product information, visit www.mathworks.com. To reproduce this test use rng(1127374438,'twister') Calling addpath_spotless Calling addpath_gloptipoly3 Calling addpath_sedumi Some variables are not represented in the relaxation relaxation_order = ``` 2 ``` relaxation_order = ``` 3 ``` Error using getada1 Out of memory. Type HELP MEMORY for your options. Error in sedumi (line 452) ADA = getada1(ADA, A, Ablkjc(:,3), Aord.lqperm, d, K.qblkstart); Error in msdp/msol (line 83) [dual_vars,y,info] = sedumi(P.A,P.b,P.c,P.K,pars); % modified by Milan Korda Error in PolynomialProgram/gloptipoly (line 53) [exitflag,objval] = msol(prog); Error in polyIK (line 38) [x,objval,exitflag] = gloptipoly(prog); Error in fevalPackageSafe (line 21) feval(f); examples/PlanarNLink/test/polyIKMATLAB:nomem Out of memory. Type HELP MEMORY for your options. matlab exit code: 1 — Reply to this email directly or view it on GitHub https://github.com/RobotLocomotion/drake/issues/1096.
RussTedrake commented 9 years ago

Thanks! Wish we had a better understanding, but updating away from the deprecated controller definitely seems like the right thing to do.

On May 8, 2015, at 5:07 PM, Gregory Izatt notifications@github.com wrote:

A common point is that those two tests use the old controller, which may have stopped being properly supported and testing now that we've properly switched over. Switching the contact sensor test over to the next split controller fixed the issue; I'll switch the other over as well. The only remaining tests that appear to use the old controller are runAtlasJumping and runAtlasRunning... perhaps they're happier because the robot model isn't being changed in those cases?

On Fri, May 8, 2015 at 4:02 PM, Russ Tedrake notifications@github.com wrote:

these happen reliably on the nightly tests

Site: thrashcan Build Name: master-RobotLocomotion-master Build Server Directory: /tmp/drake-master/drake-32276 CDash: http://kobol.csail.mit.edu/cd/viewTest.php?onlyfailed&buildid=wrong site

Most recent commits to drake included in this build:

0c13a16 Merge pull request #1089 from hongkai-dai/test-IK-cpp 7da738c no snopt_cpp in CMakeLists anymore, it is called snopt_c b667715 Merge branch 'master' ofhttps://github.com/RobotLocomotion/drake-private; branch 'master' ofhttps://github.com/RobotLocomotion/drake 6d720ff https://github.com/RobotLocomotion/drake6d720ff Merge pull request #1080 from RussTedrake/distcomp_versions 665ef45 Merge pull request #1065 from hongkai-dai/add-bodySpatialMotionPDmex

403 tests run: 379 passed 0 cancelled (with missing dependencies ) 12 timed out 12 failed 2 known issue #310 https://github.com/RobotLocomotion/drake/issues/310: testLCMPlant fails on parallel build because it can't keep up with realtime 4 known issue #374 https://github.com/RobotLocomotion/drake/issues/374: failing imu unit tests 1 known issue #466 https://github.com/RobotLocomotion/drake/issues/466: implement Jdot*v for drakeFunction.kinematic methods 1 known issue #585 https://github.com/RobotLocomotion/drake/issues/585: testIndividualCentersOfPressure fails 1 known issue #723 https://github.com/RobotLocomotion/drake/issues/723: runDRCPracticeTerrain errors out with probability 3 unknown

examples/Atlas/runAtlasBalancingWithContactSensor (unknown issue)

error_id = Simulink:SFunctions:SFcnErrorStatus error_message = Error reported by S-function 'DCSFunction' in 'MIMOCascade_1936428/system1/system2/system2/system2/system2/DrakeSys':

DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback. See additional debugging information above is_segfault = 0

< M A T L A B (R) > Copyright 1984-2014 The MathWorks, Inc. R2014a (8.3.0.532) 64-bit (glnxa64) February 11, 2014

To get started, type one of these: helpwin, helpdesk, or demo. For product information, visit www.mathworks.com.

To reproduce this test use rng(1127269042,'twister')

Calling addpath_gurobi Calling addpath_snopt Calling addpath_spotless [�Warning: Map ptr is NULL. Assuming flat terrain at z=0]� [�Warning: Map ptr is NULL. Assuming flat terrain at z=0]� In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! In BulletModel::findClosestPointsBtwElements: No closest point found! DrakeSystem S-Function: error when calling ''update'' with the followingarguments: Atlas with properties: x0: [84x1 double] hand_right: 0 hand_right_kind: 'none' hand_left: 0 hand_left_kind: 'none' left_full_support: [1x1 RigidBodySupportState] left_toe_support: [1x1 RigidBodySupportState] right_full_support: [1x1 RigidBodySupportState] right_toe_support: [1x1 RigidBodySupportState] left_full_right_full_support: [1x1 RigidBodySupportState] left_toe_right_full_support: [1x1 RigidBodySupportState] left_full_right_toe_support: [1x1 RigidBodySupportState] atlas_version: 5 external_force: 0 fixed_point_file:'/tmp/drake-master/drake-32276/examples...' default_footstep_params: [1x1 struct] default_walking_params: [1x1 struct] timestep: 0.0020 twoD: 0 position_control: 0 LCP_cache: [1x1 SharedDataHandle] enable_fastqp: 1 lcmgl_contact_forces_scale: 0 z_inactive_guess_tol: 0.0100 multiple_contacts: 0 gurobi_present: 1 umin: [30x1 double] umax: [30x1 double] warning_manager: [1x1 WarningManager] foot_body_id: [1x1 struct] foot_frame_id: [1x1 struct] toe_frame_id: [1x1 struct] inner_foot_shape: [] default_body_collision_slices: [] body_collision_slice_heights: []

0.1800

NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN 0 0 0 0 0 0 0 0 0 0 0 0

NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN

Error using + Matrix dimensions must agree.

Error in TimeSteppingRigidBodyManipulator/solveLCP (line 345) possible_limit_indices = (phiL + h_JL_qd) < obj.z_inactive_guess_tol;

Error in ContactForceTorqueSensor/update (line 89) [tsmanip,z] = tsmanip.solveLCP(t,x,u);

Error in TimeSteppingRigidBodyManipulator/update (line 228) [obj,xdn_sensor] = update(obj.sensor{i},obj,t,x,u);

Error in SimulinkModelHandle/sim (line 112) varargout{:} = sim(obj.name,varargin{:});

Error in DynamicalSystem/simulate (line 116) simout = sim(mdl,pstruct);

Error in runAtlasBalancingWithContactSensor (line 153) traj = simulate(sys,[0 2.0],x0);

Error in fevalPackageSafe (line 21) feval(f); Error using SimulinkModelHandle/sim (line 112) Error reported by S-function 'DCSFunction' in'MIMOCascade_1936428/system1/system2/system2/system2/system2/DrakeSys':

DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback. See additional debugging information above

Error in DynamicalSystem/simulate (line 116) simout = sim(mdl,pstruct);

Error in runAtlasBalancingWithContactSensor (line 153) traj = simulate(sys,[0 2.0],x0);

Error in fevalPackageSafe (line 21) feval(f);

examples/Atlas/runAtlasBalancingWithContactSensorSimulink:SFunctions:SFcnErrorStatusError reported by S-function 'DCSFunction' in'MIMOCascade_1936428/system1/system2/system2/system2/system2/DrakeSys': DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback. See additional debugging information above matlab exit code: 1 examples/Atlas/runAtlasHandControl (unknown issue) error_id = Simulink:SFunctions:SFcnErrorStatus error_message = Error reported by S-function 'DCSFunction' in 'MIMOCascade_2034419/system1/system2/system2/system2/system1/system1/system2/DrakeSys': DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback. See additional debugging information above is_segfault = 0 < M A T L A B (R) > Copyright 1984-2014 The MathWorks, Inc. R2014a (8.3.0.532) 64-bit (glnxa64) February 11, 2014 To get started, type one of these: helpwin, helpdesk, or demo. For product information, visit www.mathworks.com. To reproduce this test use rng(1127271023,'twister') Calling addpath_gurobi Calling addpath_snopt Calling addpath_spotless [�Warning: still need to add time derivatives of position constraints]� [�> In WarningManager>WarningManager.warnOnce at 21 In Manipulator.Manipulator>Manipulator.updatePositionEqualityConstraint at 192 In Manipulator.Manipulator>Manipulator.addPositionEqualityConstraint at169 In RigidBodyManipulator.addRobotFromURDF>parseCable at 532 In RigidBodyManipulator.addRobotFromURDF>parseRobot at 135 In RigidBodyManipulator.addRobotFromURDF at 54 In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.addRobotFromURDF at 833 In Atlas>Atlas.Atlas at 62 In runAtlasHandControl at 31 In fevalPackageSafe at 21]� [�Warning: Map ptr is NULL. Assuming flat terrain at z=0]� [�Warning: Map ptr is NULL. Assuming flat terrain at z=0]� DrakeSystem S-Function: error when calling ''update'' with the followingarguments: Atlas with properties: x0: [112x1 double] hand_right: 1 hand_right_kind: 'robotiq_tendons' hand_left: 1 hand_left_kind: 'robotiq_tendons' left_full_support: [1x1 RigidBodySupportState] left_toe_support: [1x1 RigidBodySupportState] right_full_support: [1x1 RigidBodySupportState] right_toe_support: [1x1 RigidBodySupportState] left_full_right_full_support: [1x1 RigidBodySupportState] left_toe_right_full_support: [1x1 RigidBodySupportState] left_full_right_toe_support: [1x1 RigidBodySupportState] atlas_version: 5 external_force: 0 fixed_point_file:'/tmp/drake-master/drake-32276/examples...' default_footstep_params: [1x1 struct] default_walking_params: [1x1 struct] timestep: 0.0020 twoD: 0 position_control: 0 LCP_cache: [1x1 SharedDataHandle] enable_fastqp: 1 lcmgl_contact_forces_scale: 0 z_inactive_guess_tol: 0.0100 multiple_contacts: 0 gurobi_present: 1 umin: [32x1 double] umax: [32x1 double] warning_manager: [1x1 WarningManager] foot_body_id: [1x1 struct] foot_frame_id: [1x1 struct] toe_frame_id: [1x1 struct] inner_foot_shape: [] default_body_collision_slices: [] body_collision_slice_heights: [] 0.1780 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN 0.2409 0.2409 Error using + Matrix dimensions must agree. Error in TimeSteppingRigidBodyManipulator/solveLCP (line 345) possible_limit_indices = (phiL + h_JL_qd) < obj.z_inactive_guess_tol; Error in TimeSteppingRigidBodyManipulator/update (line 198) [obj,z,Mqdn,wqdn] = solveLCP(obj,t,x,u); Error in SimulinkModelHandle/sim (line 112) varargout{:} = sim(obj.name,varargin{:}); Error in DynamicalSystem/simulate (line 116) simout = sim(mdl,pstruct); Error in runAtlasHandControl (line 264) traj = simulate(sys,[0 2],x0); Error in fevalPackageSafe (line 21) feval(f); Error using SimulinkModelHandle/sim (line 112) Error reported by S-function 'DCSFunction' in'MIMOCascade_2034419/system1/system2/system2/system2/system1/system1/system2/DrakeSys': DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback. See additional debugging information above Error in DynamicalSystem/simulate (line 116) simout = sim(mdl,pstruct); Error in runAtlasHandControl (line 264) traj = simulate(sys,[0 2],x0); Error in fevalPackageSafe (line 21) feval(f); examples/Atlas/runAtlasHandControlSimulink:SFunctions:SFcnErrorStatusError reported by S-function 'DCSFunction' in'MIMOCascade_2034419/system1/system2/system2/system2/system1/system1/system2/DrakeSys': DrakeSystem S-Function: error MATLAB:dimagree in MATLAB callback. See additional debugging information above matlab exit code: 1 examples/PlanarNLink/test/polyIK (unknown issue) error_id = MATLAB:nomem error_message = Out of memory. Type HELP MEMORY for your options. is_segfault = 0 < M A T L A B (R) > Copyright 1984-2014 The MathWorks, Inc. R2014a (8.3.0.532) 64-bit (glnxa64) February 11, 2014 To get started, type one of these: helpwin, helpdesk, or demo. For product information, visit www.mathworks.com. To reproduce this test use rng(1127374438,'twister') Calling addpath_spotless Calling addpath_gloptipoly3 Calling addpath_sedumi Some variables are not represented in the relaxation relaxation_order = 2 relaxation_order = 3 Error using getada1 Out of memory. Type HELP MEMORY for your options. Error in sedumi (line 452) ADA = getada1(ADA, A, Ablkjc(:,3), Aord.lqperm, d, K.qblkstart); Error in msdp/msol (line 83) [dual_vars,y,info] = sedumi(P.A,P.b,P.c,P.K,pars); % modified by Milan Korda Error in PolynomialProgram/gloptipoly (line 53) [exitflag,objval] = msol(prog); Error in polyIK (line 38) [x,objval,exitflag] = gloptipoly(prog); Error in fevalPackageSafe (line 21) feval(f); examples/PlanarNLink/test/polyIKMATLAB:nomem Out of memory. Type HELP MEMORY for your options. matlab exit code: 1 — Reply to this email directly or view it on GitHub https://github.com/RobotLocomotion/drake/issues/1096. — Reply to this email directly or view it on GitHub.
RussTedrake commented 9 years ago

i believe this is resolved (or at least covered by another issue). haven't noticed it on the build servers lately.