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ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots
https://ami-iit.github.io/bipedal-locomotion-framework/
BSD 3-Clause "New" or "Revised" License
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Added Vector Collection Server for publishing information for real-time users in the YARPRobotLoggerDevice #796

Closed nicktrem closed 4 months ago

nicktrem commented 6 months ago

Edited the functionality of the real-time logger to use a vector collection client/server

traversaro commented 6 months ago

The Windows failure is:

2024-01-22T15:53:53.5054220Z [2024-01-22 15:53:53.494] [thread: 1440] [blf] [info] [CoMTask::initialize] [CoMTask] Unable to find the mask parameter. The default value is used: true true true.
2024-01-22T15:53:53.5055525Z [2024-01-22 15:53:53.495] [thread: 1440] [blf] [info] [SE3Task::initialize]  [IK-SE3Task - Frame name:  link29] Unable to find the mask parameter. The default value is used: true true true.
2024-01-22T15:53:53.5056998Z [2024-01-22 15:53:53.495] [thread: 1440] [blf] [info] [SE3Task::initialize]  [IK-SE3Task - Frame name:  link29] Unable to find the use_orientation_exogenous_feedback parameter. The default value is used: false.
2024-01-22T15:53:53.5058521Z [2024-01-22 15:53:53.495] [thread: 1440] [blf] [info] [SE3Task::initialize]  [IK-SE3Task - Frame name:  link29] Unable to find the use_position_exogenous_feedback parameter. The default value is used: false.
2024-01-22T15:53:53.5059888Z [2024-01-22 15:53:53.495] [thread: 1440] [blf] [info] [CoMTask::initialize] [CoMTask] Unable to find the mask parameter. The default value is used: true true true.
2024-01-22T15:53:53.5060649Z Randomness seeded to: 577753292
2024-01-22T15:53:53.5060849Z 
2024-01-22T15:53:53.5061011Z ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
2024-01-22T15:53:53.5061541Z QPInverseKinematicsUnitTests.exe is a Catch2 v3.0.1 host application.
2024-01-22T15:53:53.5062005Z Run with -? for options
2024-01-22T15:53:53.5062170Z 
2024-01-22T15:53:53.5062336Z -------------------------------------------------------------------------------
2024-01-22T15:53:53.5062764Z QP-IK [Distance and Gravity tasks Unconstrained]
2024-01-22T15:53:53.5063180Z -------------------------------------------------------------------------------
2024-01-22T15:53:53.5063908Z D:\a\bipedal-locomotion-framework\bipedal-locomotion-framework\src\IK\tests\QPInverseKinematicsTest.cpp(858)
2024-01-22T15:53:53.5064626Z ...............................................................................
2024-01-22T15:53:53.5064920Z 
2024-01-22T15:53:53.5065434Z D:\a\bipedal-locomotion-framework\bipedal-locomotion-framework\src\IK\tests\QPInverseKinematicsTest.cpp(979): FAILED:
2024-01-22T15:53:53.5066744Z   REQUIRE( toManifPose(kinDyn->getWorldTransform(desiredSetPoints.targetFrameDistance)) .translation() .norm() == Catch::Approx(desiredSetPoints.targetDistance).epsilon(tolerance) )
2024-01-22T15:53:53.5067631Z with expansion:
2024-01-22T15:53:53.5067981Z   76.8941567337 == Approx( 1.3854129089 )
2024-01-22T15:53:53.5068215Z 
2024-01-22T15:53:53.5068347Z ===============================================================================
2024-01-22T15:53:53.5068713Z test cases:   5 |   4 passed | 1 failed
2024-01-22T15:53:53.5069051Z assertions: 661 | 660 passed | 1 failed

it is the same thing tracked in https://github.com/ami-iit/bipedal-locomotion-framework/issues/799, just rebased or merge with master to get the fix that was merged in https://github.com/ami-iit/bipedal-locomotion-framework/pull/800 .

nicktrem commented 6 months ago

@traversaro The issue regarding the GitHub action test has been fixed in e136188. If there are no further edits requested, the merge is good to go

nicktrem commented 4 months ago

After face-to-face discussions with @S-Dafarra, @GiulioRomualdi, and @gabrielenava. This PR will be broken up into smaller PRs so it is easier to manage

See the list of smaller PRs below: Part 1) pull request #817 Part 2) to be created soon Part 3) to be created soon