Enable test_Collision on Linux/macOS

traversaro commented 8 months ago

Fix https://github.com/conda-forge/dartsim-feedstock/issues/39 . This was triggered by https://github.com/conda-forge/gz-physics-feedstock/pull/24#issuecomment-2001998885, even if I do not know how much the two problems are related.

Checklist

[x] Used a personal fork of the feedstock to propose changes
[x] Bumped the build number (if the version is unchanged)
[ ] Reset the build number to 0 (if the version changed)
[x] Re-rendered with the latest conda-smithy (Use the phrase code>@<space/conda-forge-admin, please rerender in a comment in this PR for automated rerendering)
[x] Ensured the license file is being packaged.

conda-forge-webservices[bot] commented 8 months ago

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipe) and found it was in an excellent condition.

traversaro commented 8 months ago

@conda-forge-admin, please rerender

traversaro commented 8 months ago

Great, this fails, with output:

2024-03-16T16:48:45.3630667Z 35/71 Test #35: test_Collision ....................***Failed    0.38 sec
2024-03-16T16:48:45.3632033Z Running main() from $SRC_DIR/unittests/gtest/src/gtest_main.cc
2024-03-16T16:48:45.3632353Z [==========] Running 17 tests from 1 test case.
2024-03-16T16:48:45.3632887Z [----------] Global test environment set-up.
2024-03-16T16:48:45.3633200Z [----------] 17 tests from Collision
2024-03-16T16:48:45.3633427Z [ RUN      ] Collision.DROP
2024-03-16T16:48:45.3633725Z [1;36mDbg[0m Unrotated box
2024-03-16T16:48:45.3633954Z Current position of the object: 0.2499
2024-03-16T16:48:45.3634151Z      0
2024-03-16T16:48:45.3634302Z      0
2024-03-16T16:48:45.3634484Z Number of contacts: 4
2024-03-16T16:48:45.3634726Z ----- CONTACT 0 --------
2024-03-16T16:48:45.3634985Z contact_points: -5e-05
2024-03-16T16:48:45.3635161Z   0.25
2024-03-16T16:48:45.3635331Z   0.25
2024-03-16T16:48:45.3635873Z contact_points(w): 0.24985
2024-03-16T16:48:45.3636073Z    0.25
2024-03-16T16:48:45.3636229Z    0.25
2024-03-16T16:48:45.3636405Z norm: 0.353553
2024-03-16T16:48:45.3636585Z penetration_depth: 0.0001
2024-03-16T16:48:45.3636779Z normal: -1
2024-03-16T16:48:45.3636989Z -0
2024-03-16T16:48:45.3637166Z  0
2024-03-16T16:48:45.3637387Z ----- CONTACT 1 --------
2024-03-16T16:48:45.3637650Z contact_points: -5e-05
2024-03-16T16:48:45.3637825Z   0.25
2024-03-16T16:48:45.3638028Z  -0.25
2024-03-16T16:48:45.3638204Z contact_points(w): 0.24985
2024-03-16T16:48:45.3638395Z    0.25
2024-03-16T16:48:45.3638567Z   -0.25
2024-03-16T16:48:45.3638753Z norm: 0.353553
2024-03-16T16:48:45.3638948Z penetration_depth: 0.0001
2024-03-16T16:48:45.3639126Z normal: -1
2024-03-16T16:48:45.3639331Z -0
2024-03-16T16:48:45.3639484Z  0
2024-03-16T16:48:45.3639716Z ----- CONTACT 2 --------
2024-03-16T16:48:45.3639954Z contact_points: -5e-05
2024-03-16T16:48:45.3640164Z  -0.25
2024-03-16T16:48:45.3640341Z  -0.25
2024-03-16T16:48:45.3640533Z contact_points(w): 0.24985
2024-03-16T16:48:45.3640724Z   -0.25
2024-03-16T16:48:45.3640921Z   -0.25
2024-03-16T16:48:45.3641086Z norm: 0.353553
2024-03-16T16:48:45.3641284Z penetration_depth: 0.0001
2024-03-16T16:48:45.3641460Z normal: -1
2024-03-16T16:48:45.3641668Z -0
2024-03-16T16:48:45.3641820Z  0
2024-03-16T16:48:45.3642787Z ----- CONTACT 3 --------
2024-03-16T16:48:45.3643030Z contact_points: -5e-05
2024-03-16T16:48:45.3643254Z  -0.25
2024-03-16T16:48:45.3643413Z   0.25
2024-03-16T16:48:45.3643608Z contact_points(w): 0.24985
2024-03-16T16:48:45.3643796Z   -0.25
2024-03-16T16:48:45.3643979Z    0.25
2024-03-16T16:48:45.3644133Z norm: 0.353553
2024-03-16T16:48:45.3644325Z penetration_depth: 0.0001
2024-03-16T16:48:45.3644518Z normal: -1
2024-03-16T16:48:45.3644893Z -0
2024-03-16T16:48:45.3645071Z  0
2024-03-16T16:48:45.3645163Z 
2024-03-16T16:48:45.3645342Z Current position of the object:      0
2024-03-16T16:48:45.3645546Z 0.2499
2024-03-16T16:48:45.3645697Z      0
2024-03-16T16:48:45.3645881Z Number of contacts: 4
2024-03-16T16:48:45.3646121Z ----- CONTACT 0 --------
2024-03-16T16:48:45.3646337Z contact_points:   0.25
2024-03-16T16:48:45.3646544Z -5e-05
2024-03-16T16:48:45.3646727Z   0.25
2024-03-16T16:48:45.3646921Z contact_points(w):    0.25
2024-03-16T16:48:45.3647398Z 0.24985
2024-03-16T16:48:45.3647578Z    0.25
2024-03-16T16:48:45.3647750Z norm: 0.353553
2024-03-16T16:48:45.3647952Z penetration_depth: 0.0001
2024-03-16T16:48:45.3648135Z normal: -0
2024-03-16T16:48:45.3648357Z -1
2024-03-16T16:48:45.3648546Z -0
2024-03-16T16:48:45.3648827Z ----- CONTACT 1 --------
2024-03-16T16:48:45.3650082Z contact_points:   0.25
2024-03-16T16:48:45.3650497Z -5e-05
2024-03-16T16:48:45.3650695Z  -0.25
2024-03-16T16:48:45.3650898Z contact_points(w):    0.25
2024-03-16T16:48:45.3651075Z 0.24985
2024-03-16T16:48:45.3651358Z   -0.25
2024-03-16T16:48:45.3651531Z norm: 0.353553
2024-03-16T16:48:45.3651843Z penetration_depth: 0.0001
2024-03-16T16:48:45.3652018Z normal: -0
2024-03-16T16:48:45.3652227Z -1
2024-03-16T16:48:45.3652411Z -0
2024-03-16T16:48:45.3652661Z ----- CONTACT 2 --------
2024-03-16T16:48:45.3652935Z contact_points:  -0.25
2024-03-16T16:48:45.3653402Z -5e-05
2024-03-16T16:48:45.3653655Z  -0.25
2024-03-16T16:48:45.3654011Z contact_points(w):   -0.25
2024-03-16T16:48:45.3654328Z 0.24985
2024-03-16T16:48:45.3654507Z   -0.25
2024-03-16T16:48:45.3654702Z norm: 0.353553
2024-03-16T16:48:45.3654886Z penetration_depth: 0.0001
2024-03-16T16:48:45.3655080Z normal: -0
2024-03-16T16:48:45.3655453Z -1
2024-03-16T16:48:45.3655662Z -0
2024-03-16T16:48:45.3655887Z ----- CONTACT 3 --------
2024-03-16T16:48:45.3656134Z contact_points:  -0.25
2024-03-16T16:48:45.3656349Z -5e-05
2024-03-16T16:48:45.3656532Z   0.25
2024-03-16T16:48:45.3656736Z contact_points(w):   -0.25
2024-03-16T16:48:45.3656938Z 0.24985
2024-03-16T16:48:45.3657095Z    0.25
2024-03-16T16:48:45.3657423Z norm: 0.353553
2024-03-16T16:48:45.3657679Z penetration_depth: 0.0001
2024-03-16T16:48:45.3657877Z normal: -0
2024-03-16T16:48:45.3658064Z -1
2024-03-16T16:48:45.3658271Z -0
2024-03-16T16:48:45.3658359Z 
2024-03-16T16:48:45.3658556Z Current position of the object:      0
2024-03-16T16:48:45.3658735Z      0
2024-03-16T16:48:45.3658903Z 0.2499
2024-03-16T16:48:45.3659173Z Number of contacts: 4
2024-03-16T16:48:45.3659435Z ----- CONTACT 0 --------
2024-03-16T16:48:45.3659629Z contact_points:   0.25
2024-03-16T16:48:45.3659825Z   0.25
2024-03-16T16:48:45.3661435Z -5e-05
2024-03-16T16:48:45.3662147Z contact_points(w):    0.25
2024-03-16T16:48:45.3662321Z    0.25
2024-03-16T16:48:45.3662477Z 0.24985
2024-03-16T16:48:45.3662617Z norm: 0.353553
2024-03-16T16:48:45.3662791Z penetration_depth: 0.0001
2024-03-16T16:48:45.3662943Z normal: -0
2024-03-16T16:48:45.3663140Z -0
2024-03-16T16:48:45.3663314Z -1
2024-03-16T16:48:45.3663505Z ----- CONTACT 1 --------
2024-03-16T16:48:45.3663687Z contact_points:   0.25
2024-03-16T16:48:45.3664023Z  -0.25
2024-03-16T16:48:45.3664208Z -5e-05
2024-03-16T16:48:45.3664361Z contact_points(w):    0.25
2024-03-16T16:48:45.3664552Z   -0.25
2024-03-16T16:48:45.3664690Z 0.24985
2024-03-16T16:48:45.3664850Z norm: 0.353553
2024-03-16T16:48:45.3665783Z penetration_depth: 0.0001
2024-03-16T16:48:45.3666571Z normal: -0
2024-03-16T16:48:45.3666811Z -0
2024-03-16T16:48:45.3667026Z -1
2024-03-16T16:48:45.3667260Z ----- CONTACT 2 --------
2024-03-16T16:48:45.3667499Z contact_points:  -0.25
2024-03-16T16:48:45.3668027Z  -0.25
2024-03-16T16:48:45.3668243Z -5e-05
2024-03-16T16:48:45.3668442Z contact_points(w):   -0.25
2024-03-16T16:48:45.3668810Z   -0.25
2024-03-16T16:48:45.3669104Z 0.24985
2024-03-16T16:48:45.3669252Z norm: 0.353553
2024-03-16T16:48:45.3669398Z penetration_depth: 0.0001
2024-03-16T16:48:45.3669569Z normal: -0
2024-03-16T16:48:45.3669717Z -0
2024-03-16T16:48:45.3669888Z -1
2024-03-16T16:48:45.3670085Z ----- CONTACT 3 --------
2024-03-16T16:48:45.3670262Z contact_points:  -0.25
2024-03-16T16:48:45.3670421Z   0.25
2024-03-16T16:48:45.3670776Z -5e-05
2024-03-16T16:48:45.3670966Z contact_points(w):   -0.25
2024-03-16T16:48:45.3671116Z    0.25
2024-03-16T16:48:45.3671259Z 0.24985
2024-03-16T16:48:45.3671391Z norm: 0.353553
2024-03-16T16:48:45.3671557Z penetration_depth: 0.0001
2024-03-16T16:48:45.3671704Z normal: -0
2024-03-16T16:48:45.3671877Z -0
2024-03-16T16:48:45.3672183Z -1
2024-03-16T16:48:45.3672452Z 
2024-03-16T16:48:45.3672649Z [1;36mDbg[0m Rotated box
2024-03-16T16:48:45.3672839Z Current position of the object: 0.4221
2024-03-16T16:48:45.3673142Z      0
2024-03-16T16:48:45.3673281Z      0
2024-03-16T16:48:45.3673418Z Number of contacts: 1
2024-03-16T16:48:45.3673630Z ----- CONTACT 0 --------
2024-03-16T16:48:45.3673844Z contact_points: -6.55532e-06
2024-03-16T16:48:45.3674054Z   -0.0962696
2024-03-16T16:48:45.3674232Z  -0.00725903
2024-03-16T16:48:45.3674403Z contact_points(w):  0.464225
2024-03-16T16:48:45.3674754Z 0.0853712
2024-03-16T16:48:45.3674942Z -0.016054
2024-03-16T16:48:45.3675088Z norm: 0.0965428
2024-03-16T16:48:45.3675266Z penetration_depth: 1.31106e-05
2024-03-16T16:48:45.3728878Z normal: -1
2024-03-16T16:48:45.3731358Z -0
2024-03-16T16:48:45.3731639Z -0
2024-03-16T16:48:45.3731771Z 
2024-03-16T16:48:45.3731957Z Current position of the object:      0
2024-03-16T16:48:45.3732166Z 0.3611
2024-03-16T16:48:45.3732324Z      0
2024-03-16T16:48:45.3732513Z Number of contacts: 1
2024-03-16T16:48:45.3732785Z ----- CONTACT 0 --------
2024-03-16T16:48:45.3736188Z contact_points:     0.229274
2024-03-16T16:48:45.3736574Z -2.12223e-05
2024-03-16T16:48:45.3736789Z    0.0671534
2024-03-16T16:48:45.3737026Z contact_points(w): -0.187188
2024-03-16T16:48:45.3737232Z  0.422332
2024-03-16T16:48:45.3737430Z  -0.13523
2024-03-16T16:48:45.3737625Z norm: 0.238906
2024-03-16T16:48:45.3737804Z penetration_depth: 4.24446e-05
2024-03-16T16:48:45.3738009Z normal: -0
2024-03-16T16:48:45.3738213Z -1
2024-03-16T16:48:45.3738398Z -0
2024-03-16T16:48:45.3738483Z 
2024-03-16T16:48:45.3738680Z Current position of the object:      0
2024-03-16T16:48:45.3738856Z      0
2024-03-16T16:48:45.3739029Z 0.3789
2024-03-16T16:48:45.3739191Z Number of contacts: 1
2024-03-16T16:48:45.3739444Z ----- CONTACT 0 --------
2024-03-16T16:48:45.3739641Z contact_points:     0.114592
2024-03-16T16:48:45.3739837Z     0.175342
2024-03-16T16:48:45.3740038Z -3.86478e-05
2024-03-16T16:48:45.3740299Z contact_points(w): -0.138078
2024-03-16T16:48:45.3740546Z -0.142299
2024-03-16T16:48:45.3740711Z   0.31136
2024-03-16T16:48:45.3740894Z norm: 0.209466
2024-03-16T16:48:45.3741076Z penetration_depth: 7.72955e-05
2024-03-16T16:48:45.3743400Z normal: -0
2024-03-16T16:48:45.3743715Z -0
2024-03-16T16:48:45.3743930Z -1
2024-03-16T16:48:45.3744017Z 
2024-03-16T16:48:45.3744222Z Current position of the object: 0.2737
2024-03-16T16:48:45.3744427Z      0
2024-03-16T16:48:45.3746618Z      0
2024-03-16T16:48:45.3746844Z Number of contacts: 2
2024-03-16T16:48:45.3747150Z ----- CONTACT 0 --------
2024-03-16T16:48:45.3747415Z contact_points: -4.69774e-06
2024-03-16T16:48:45.3747730Z        -0.25
2024-03-16T16:48:45.3747936Z    -0.223793
2024-03-16T16:48:45.3748193Z contact_points(w):  0.251353
2024-03-16T16:48:45.3748410Z     -0.25
2024-03-16T16:48:45.3753434Z -0.222674
2024-03-16T16:48:45.3753916Z norm: 0.335534
2024-03-16T16:48:45.3754867Z penetration_depth: 9.39547e-06
2024-03-16T16:48:45.3876157Z normal: -1
2024-03-16T16:48:45.3877116Z -0
2024-03-16T16:48:45.3877482Z -0
2024-03-16T16:48:45.3877742Z ----- CONTACT 1 --------
2024-03-16T16:48:45.3878733Z contact_points: -4.69774e-06
2024-03-16T16:48:45.3879020Z         0.25
2024-03-16T16:48:45.3879327Z    -0.223793
2024-03-16T16:48:45.3879585Z contact_points(w):  0.251353
2024-03-16T16:48:45.3879801Z      0.25
2024-03-16T16:48:45.3880068Z -0.222674
2024-03-16T16:48:45.3880283Z norm: 0.335534
2024-03-16T16:48:45.3880573Z penetration_depth: 9.39547e-06
2024-03-16T16:48:45.3880838Z normal: -1
2024-03-16T16:48:45.3881091Z -0
2024-03-16T16:48:45.3881572Z -0
2024-03-16T16:48:45.3881831Z 
2024-03-16T16:48:45.3882014Z Current position of the object:      0
2024-03-16T16:48:45.3883184Z 0.2499
2024-03-16T16:48:45.3883612Z      0
2024-03-16T16:48:45.3883852Z Number of contacts: 4
2024-03-16T16:48:45.3884165Z ----- CONTACT 0 --------
2024-03-16T16:48:45.3884404Z contact_points: 0.273709
2024-03-16T16:48:45.3884703Z   -5e-05
2024-03-16T16:48:45.3884929Z 0.223793
2024-03-16T16:48:45.3885173Z contact_points(w): 0.294684
2024-03-16T16:48:45.3885710Z  0.24985
2024-03-16T16:48:45.3885905Z 0.195349
2024-03-16T16:48:45.3886183Z norm: 0.353553
2024-03-16T16:48:45.3886387Z penetration_depth: 0.0001
2024-03-16T16:48:45.3886656Z normal: -0
2024-03-16T16:48:45.3886887Z -1
2024-03-16T16:48:45.3887082Z -0
2024-03-16T16:48:45.3887394Z ----- CONTACT 1 --------
2024-03-16T16:48:45.3887596Z contact_points:  0.223793
2024-03-16T16:48:45.3887832Z    -5e-05
2024-03-16T16:48:45.3888149Z -0.273709
2024-03-16T16:48:45.3888460Z contact_points(w):  0.195349
2024-03-16T16:48:45.3888643Z   0.24985
2024-03-16T16:48:45.3888880Z -0.294684
2024-03-16T16:48:45.3889054Z norm: 0.353553
2024-03-16T16:48:45.3889260Z penetration_depth: 0.0001
2024-03-16T16:48:45.3889439Z normal: -0
2024-03-16T16:48:45.3889648Z -1
2024-03-16T16:48:45.3889834Z -0
2024-03-16T16:48:45.3890088Z ----- CONTACT 2 --------
2024-03-16T16:48:45.3890339Z contact_points: -0.273709
2024-03-16T16:48:45.3890633Z    -5e-05
2024-03-16T16:48:45.3890864Z -0.223793
2024-03-16T16:48:45.3891114Z contact_points(w): -0.294684
2024-03-16T16:48:45.3891328Z   0.24985
2024-03-16T16:48:45.3891541Z -0.195349
2024-03-16T16:48:45.3891731Z norm: 0.353553
2024-03-16T16:48:45.3891914Z penetration_depth: 0.0001
2024-03-16T16:48:45.3892114Z normal: -0
2024-03-16T16:48:45.3892305Z -1
2024-03-16T16:48:45.3892516Z -0
2024-03-16T16:48:45.3892745Z ----- CONTACT 3 --------
2024-03-16T16:48:45.3893017Z contact_points: -0.223793
2024-03-16T16:48:45.3893240Z    -5e-05
2024-03-16T16:48:45.3893429Z  0.273709
2024-03-16T16:48:45.3893669Z contact_points(w): -0.195349
2024-03-16T16:48:45.3893877Z   0.24985
2024-03-16T16:48:45.3894034Z  0.294684
2024-03-16T16:48:45.3894221Z norm: 0.353553
2024-03-16T16:48:45.3894400Z penetration_depth: 0.0001
2024-03-16T16:48:45.3894600Z normal: -0
2024-03-16T16:48:45.3894972Z -1
2024-03-16T16:48:45.3895176Z -0
2024-03-16T16:48:45.3895263Z 
2024-03-16T16:48:45.3895454Z Current position of the object:      0
2024-03-16T16:48:45.3895628Z      0
2024-03-16T16:48:45.3895795Z 0.2737
2024-03-16T16:48:45.3895959Z Number of contacts: 2
2024-03-16T16:48:45.3896219Z ----- CONTACT 0 --------
2024-03-16T16:48:45.3896417Z contact_points:     0.223793
2024-03-16T16:48:45.3896609Z         0.25
2024-03-16T16:48:45.3896813Z -4.69774e-06
2024-03-16T16:48:45.3897017Z contact_points(w): 0.222674
2024-03-16T16:48:45.3897186Z     0.25
2024-03-16T16:48:45.3897360Z 0.251353
2024-03-16T16:48:45.3898566Z norm: 0.335534
2024-03-16T16:48:45.3898801Z penetration_depth: 9.39547e-06
2024-03-16T16:48:45.3899014Z normal: -0
2024-03-16T16:48:45.3899258Z -0
2024-03-16T16:48:45.3899471Z -1
2024-03-16T16:48:45.3899693Z ----- CONTACT 1 --------
2024-03-16T16:48:45.3899912Z contact_points:     0.223793
2024-03-16T16:48:45.3900112Z        -0.25
2024-03-16T16:48:45.3901465Z -4.69774e-06
2024-03-16T16:48:45.3901867Z contact_points(w): 0.222674
2024-03-16T16:48:45.3902170Z    -0.25
2024-03-16T16:48:45.3902342Z 0.251353
2024-03-16T16:48:45.3902530Z norm: 0.335534
2024-03-16T16:48:45.3902712Z penetration_depth: 9.39547e-06
2024-03-16T16:48:45.3902917Z normal: -0
2024-03-16T16:48:45.3903111Z -0
2024-03-16T16:48:45.3903315Z -1
2024-03-16T16:48:45.3903661Z 
2024-03-16T16:48:45.3903872Z [       OK ] Collision.DROP (128 ms)
2024-03-16T16:48:45.3904074Z [ RUN      ] Collision.FCL_BOX_BOX
2024-03-16T16:48:45.3904290Z Current position of the object:       0
2024-03-16T16:48:45.3904465Z       0
2024-03-16T16:48:45.3904632Z 0.37107
2024-03-16T16:48:45.3904798Z Number of contacts: 1
2024-03-16T16:48:45.3905305Z ----- CONTACT 0 --------
2024-03-16T16:48:45.3905559Z contact_points:    -0.197346
2024-03-16T16:48:45.3905761Z     0.104184
2024-03-16T16:48:45.3907503Z -4.75131e-06
2024-03-16T16:48:45.3907880Z penetration_depth: 9.50262e-06
2024-03-16T16:48:45.3908072Z normal: -0
2024-03-16T16:48:45.3908296Z -0
2024-03-16T16:48:45.3908477Z -1
2024-03-16T16:48:45.3908685Z [       OK ] Collision.FCL_BOX_BOX (78 ms)
2024-03-16T16:48:45.3908909Z [ RUN      ] Collision.SimpleFrames
2024-03-16T16:48:45.3909113Z [       OK ] Collision.SimpleFrames (31 ms)
2024-03-16T16:48:45.3909333Z [ RUN      ] Collision.SphereSphere
2024-03-16T16:48:45.3909738Z point: 0 0 0
2024-03-16T16:48:45.3909993Z point: -1  0  0
2024-03-16T16:48:45.3910167Z point: 0 0 0
2024-03-16T16:48:45.3910378Z [       OK ] Collision.SphereSphere (4 ms)
2024-03-16T16:48:45.3910574Z [ RUN      ] Collision.BoxBox
2024-03-16T16:48:45.3911294Z [       OK ] Collision.BoxBox (10 ms)
2024-03-16T16:48:45.3911512Z [ RUN      ] Collision.testCylinderCylinder
2024-03-16T16:48:45.3911803Z $SRC_DIR/unittests/integration/test_Collision.cpp:754: Failure
2024-03-16T16:48:45.3912130Z Value of: group->collide(option, &result)
2024-03-16T16:48:45.3912356Z   Actual: false
2024-03-16T16:48:45.3912544Z Expected: true
2024-03-16T16:48:45.3912771Z $SRC_DIR/unittests/integration/test_Collision.cpp:755: Failure
2024-03-16T16:48:45.3913034Z Value of: result.getNumContacts() >= 1u
2024-03-16T16:48:45.3913228Z   Actual: false
2024-03-16T16:48:45.3913415Z Expected: true
2024-03-16T16:48:45.3913620Z [  FAILED  ] Collision.testCylinderCylinder (12 ms)
2024-03-16T16:48:45.3913860Z [ RUN      ] Collision.testConeCone
2024-03-16T16:48:45.3914918Z [1;33mWarning [FCLCollisionDetector.cpp:814][0m [FCLCollisionDetector::setContactPointComputationMethod] You chose to use FCL's built in contact point computation whileit's buggy (see https://github.com/flexible-collision-library/fcl/issues/106) at least until 0.4.0. It's recommended to use DART's implementation for the contact point computation by setting FCLCollisionDetector::setContactPointComputationMethod(DART).
2024-03-16T16:48:45.3917566Z [1;33mWarning [FCLCollisionDetector.cpp:790][0m [FCLCollisionDetector::setPrimitiveShapeType] You chose to use FCL's primitive shape collision feature while it's not complete (at least until 0.4.0) especially in use of dynamics simulation. It's recommended to use mesh even for primitive shapes by settting FCLCollisionDetector::setPrimitiveShapeType(MESH).
2024-03-16T16:48:45.3919117Z [1;33mWarning [FCLCollisionDetector.cpp:790][0m [FCLCollisionDetector::setPrimitiveShapeType] You chose to use FCL's primitive shape collision feature while it's not complete (at least until 0.4.0) especially in use of dynamics simulation. It's recommended to use mesh even for primitive shapes by settting FCLCollisionDetector::setPrimitiveShapeType(MESH).
2024-03-16T16:48:45.3920556Z [1;33mWarning [FCLCollisionDetector.cpp:814][0m [FCLCollisionDetector::setContactPointComputationMethod] You chose to use FCL's built in contact point computation whileit's buggy (see https://github.com/flexible-collision-library/fcl/issues/106) at least until 0.4.0. It's recommended to use DART's implementation for the contact point computation by setting FCLCollisionDetector::setContactPointComputationMethod(DART).
2024-03-16T16:48:45.3921227Z $SRC_DIR/unittests/integration/test_Collision.cpp:754: Failure
2024-03-16T16:48:45.3921545Z Value of: group->collide(option, &result)
2024-03-16T16:48:45.3921774Z   Actual: false
2024-03-16T16:48:45.3921970Z Expected: true
2024-03-16T16:48:45.3922196Z $SRC_DIR/unittests/integration/test_Collision.cpp:755: Failure
2024-03-16T16:48:45.3922459Z Value of: result.getNumContacts() >= 1u
2024-03-16T16:48:45.3922912Z   Actual: false
2024-03-16T16:48:45.3923110Z Expected: true
2024-03-16T16:48:45.3923488Z [  FAILED  ] Collision.testConeCone (33 ms)
2024-03-16T16:48:45.3923713Z [ RUN      ] Collision.testCapsuleCapsule
2024-03-16T16:48:45.3923921Z [       OK ] Collision.testCapsuleCapsule (1 ms)
2024-03-16T16:48:45.3924156Z [ RUN      ] Collision.testPlane
2024-03-16T16:48:45.3924351Z [       OK ] Collision.testPlane (0 ms)
2024-03-16T16:48:45.3924570Z [ RUN      ] Collision.testHeightmapBox
2024-03-16T16:48:45.3924848Z [1;36mDbg[0m Testing ODE (float)
2024-03-16T16:48:45.3925247Z [1;36mDbg[0m ODE Heightfield AABB: min = {-1, -1, -2.22045e-16} max = {1, 1, 6}
2024-03-16T16:48:45.3925564Z [1;36mDbg[0m Testing ODE (double)
2024-03-16T16:48:45.3925911Z [1;36mDbg[0m ODE Heightfield AABB: min = {-1, -1, -2.22045e-16} max = {1, 1, 6}
2024-03-16T16:48:45.3926230Z [1;36mDbg[0m Testing Bullet (float)
2024-03-16T16:48:45.3926887Z [1;36mDbg[0m DART Bullet heightfield AABB: min = {-1, -1, -2}, max = {1, 1, 2} (will be translated by z=4)
2024-03-16T16:48:45.3927186Z [       OK ] Collision.testHeightmapBox (1 ms)
2024-03-16T16:48:45.3927392Z [ RUN      ] Collision.testHeightmapFlipY
2024-03-16T16:48:45.3927621Z [       OK ] Collision.testHeightmapFlipY (1 ms)
2024-03-16T16:48:45.3927835Z [ RUN      ] Collision.Options
2024-03-16T16:48:45.3928027Z [       OK ] Collision.Options (2 ms)
2024-03-16T16:48:45.3928233Z [ RUN      ] Collision.Filter
2024-03-16T16:48:45.3928744Z [1;32mMsg[0m [NameManager::issueNewName] (Skeleton::BodyNode | Skeleton) The name [BodyNode] is a duplicate, so it has been renamed to [BodyNode(1)]
2024-03-16T16:48:45.3929439Z [1;32mMsg[0m [NameManager::issueNewName] (Skeleton::Joint | Skeleton) The name [Joint] is a duplicate, so it has been renamed to [Joint(1)]
2024-03-16T16:48:45.3930006Z [1;32mMsg[0m [NameManager::issueNewName] (Skeleton::BodyNode | Skeleton) The name [BodyNode] is a duplicate, so it has been renamed to [BodyNode(1)]
2024-03-16T16:48:45.3930596Z [1;32mMsg[0m [NameManager::issueNewName] (Skeleton::Joint | Skeleton) The name [Joint] is a duplicate, so it has been renamed to [Joint(1)]
2024-03-16T16:48:45.3931190Z [1;32mMsg[0m [NameManager::issueNewName] (Skeleton::BodyNode | Skeleton) The name [BodyNode] is a duplicate, so it has been renamed to [BodyNode(1)]
2024-03-16T16:48:45.3931747Z [1;32mMsg[0m [NameManager::issueNewName] (Skeleton::Joint | Skeleton) The name [Joint] is a duplicate, so it has been renamed to [Joint(1)]
2024-03-16T16:48:45.3932066Z [       OK ] Collision.Filter (3 ms)
2024-03-16T16:48:45.3932302Z [ RUN      ] Collision.CreateCollisionGroupFromVariousObject
2024-03-16T16:48:45.3932787Z [1;32mMsg[0m [NameManager::issueNewName] (World::Skeleton | world) The name [Skeleton] is a duplicate, so it has been renamed to [Skeleton(1)]
2024-03-16T16:48:45.3933363Z [1;32mMsg[0m [NameManager::issueNewName] (World::Skeleton | world) The name [Skeleton] is a duplicate, so it has been renamed to [Skeleton(1)]
2024-03-16T16:48:45.3933923Z [1;32mMsg[0m [NameManager::issueNewName] (World::Skeleton | world) The name [Skeleton] is a duplicate, so it has been renamed to [Skeleton(1)]
2024-03-16T16:48:45.3934269Z [       OK ] Collision.CreateCollisionGroupFromVariousObject (38 ms)
2024-03-16T16:48:45.3934525Z [ RUN      ] Collision.CollisionOfPrescribedJoints
2024-03-16T16:48:45.3935010Z [1;33mWarning [GenericJoint.hpp:335][0m [GenericJoint::setCommand] Attempting to set a non-zero (-1.5708) command for a PASSIVE joint [joint 1].
2024-03-16T16:48:45.3935605Z [1;33mWarning [GenericJoint.hpp:335][0m [GenericJoint::setCommand] Attempting to set a non-zero (-1.5708) command for a PASSIVE joint [joint 1].
2024-03-16T16:48:45.3936193Z [1;33mWarning [GenericJoint.hpp:375][0m [GenericJoint::setCommand] Attempting to set a non-zero (-0.0015708) command for a LOCKED joint [joint 1].
2024-03-16T16:48:45.3936769Z [1;33mWarning [GenericJoint.hpp:335][0m [GenericJoint::setCommand] Attempting to set a non-zero (-1.57079) command for a PASSIVE joint [joint 1].
2024-03-16T16:48:45.3937538Z [1;33mWarning [GenericJoint.hpp:375][0m [GenericJoint::setCommand] Attempting to set a non-zero (-0.00314159) command for a LOCKED joint [joint 1].
2024-03-16T16:48:45.3938142Z [1;33mWarning [GenericJoint.hpp:335][0m [GenericJoint::setCommand] Attempting to set a non-zero (-1.57079) command for a PASSIVE joint [joint 1].
2024-03-16T16:48:45.3938724Z [1;33mWarning [GenericJoint.hpp:375][0m [GenericJoint::setCommand] Attempting to set a non-zero (-0.00471238) command for a LOCKED joint [joint 1].
2024-03-16T16:48:45.3939323Z [1;33mWarning [GenericJoint.hpp:335][0m [GenericJoint::setCommand] Attempting to set a non-zero (-1.57078) command for a PASSIVE joint [joint 1].
2024-03-16T16:48:45.3939919Z [1;33mWarning [GenericJoint.hpp:375][0m [GenericJoint::setCommand] Attempting to set a non-zero (-0.00628317) command for a LOCKED joint [joint 1].
2024-03-16T16:48:45.3940308Z [       OK ] Collision.CollisionOfPrescribedJoints (4 ms)
2024-03-16T16:48:45.3940865Z [ RUN      ] Collision.Factory
2024-03-16T16:48:45.3941065Z [       OK ] Collision.Factory (0 ms)
2024-03-16T16:48:45.3941285Z [ RUN      ] Collision.VoxelGrid
2024-03-16T16:48:45.3941485Z [       OK ] Collision.VoxelGrid (2 ms)
2024-03-16T16:48:45.3941829Z [----------] 17 tests from Collision (348 ms total)
2024-03-16T16:48:45.3941968Z 
2024-03-16T16:48:45.3942246Z [----------] Global test environment tear-down
2024-03-16T16:48:45.3942488Z [==========] 17 tests from 1 test case ran. (348 ms total)
2024-03-16T16:48:45.3942721Z [  PASSED  ] 15 tests.
2024-03-16T16:48:45.3942915Z [  FAILED  ] 2 tests, listed below:
2024-03-16T16:48:45.3943144Z [  FAILED  ] Collision.testCylinderCylinder
2024-03-16T16:48:45.3943354Z [  FAILED  ] Collision.testConeCone
2024-03-16T16:48:45.3943483Z 
2024-03-16T16:48:45.3943642Z  2 FAILED TESTS

And what fails is a test related to Cylinder/Cylinder contact, that is exactly the kind of contact that is not working in https://github.com/conda-forge/gz-physics-feedstock/pull/24#issuecomment-2001998885 .

traversaro commented 8 months ago

Indeed, there are some prints related to this:

2024-03-16T16:48:45.3914918Z �[1;33mWarning [FCLCollisionDetector.cpp:814]�[0m [FCLCollisionDetector::setContactPointComputationMethod] You chose to use FCL's built in contact point computation whileit's buggy (see https://github.com/flexible-collision-library/fcl/issues/106) at least until 0.4.0. It's recommended to use DART's implementation for the contact point computation by setting FCLCollisionDetector::setContactPointComputationMethod(DART).
2024-03-16T16:48:45.3917566Z �[1;33mWarning [FCLCollisionDetector.cpp:790]�[0m [FCLCollisionDetector::setPrimitiveShapeType] You chose to use FCL's primitive shape collision feature while it's not complete (at least until 0.4.0) especially in use of dynamics simulation. It's recommended to use mesh even for primitive shapes by settting FCLCollisionDetector::setPrimitiveShapeType(MESH).
2024-03-16T16:48:45.3919117Z �[1;33mWarning [FCLCollisionDetector.cpp:790]�[0m [FCLCollisionDetector::setPrimitiveShapeType] You chose to use FCL's primitive shape collision feature while it's not complete (at least until 0.4.0) especially in use of dynamics simulation. It's recommended to use mesh even for primitive shapes by settting FCLCollisionDetector::setPrimitiveShapeType(MESH).
2024-03-16T16:48:45.3920556Z �[1;33mWarning [FCLCollisionDetector.cpp:814]�[0m [FCLCollisionDetector::setContactPointComputationMethod] You chose to use FCL's built in contact point computation whileit's buggy (see https://github.com/flexible-collision-library/fcl/issues/106) at least until 0.4.0. It's recommended to use DART's implementation for the contact point computation by setting FCLCollisionDetector::setContactPointComputationMethod(DART).

that links an issue that is still open in FCL: https://github.com/flexible-collision-library/fcl/issues/106 . Perhaps we should change some setting of which collision handler to use? Even if as far as I know we are not changing anything.

traversaro commented 8 months ago

Interestingly, the same tests seems to have been disabled upstream: https://github.com/dartsim/dart/commit/a6f8a9417860005b912d30e9014395c4e44b511a .

traversaro commented 8 months ago

I modified the test to run locally and to be explicit w.r.t. to which collision detector is failing the test, and indeed it turns out that the problem is with the ODE collision detector, that is the one used by default in gz-physics/gz-sim. I have renamed the title of https://github.com/conda-forge/dartsim-feedstock/issues/39 to be more explicit on the problem that the issue is tracking.

traversaro commented 8 months ago

This should be now fixed by:

github-actions[bot] commented 8 months ago

Hi! This is the friendly conda-forge automerge bot!

I considered the following status checks when analyzing this PR:

linter: passed
azure: failed

Thus the PR was not passing and not merged.

traversaro commented 8 months ago

Great, now all the failures on Linux/macOS are done, we anyhow still have a Windows failure that anyhow is different from previous failures:

2024-03-19T14:51:58.4765666Z [ RUN      ] Collision.SphereSphere
2024-03-19T14:51:58.4766124Z %SRC_DIR%\unittests\integration\test_Collision.cpp(456): error: Value of: result.getNumContacts() == 1u
2024-03-19T14:51:58.4766630Z   Actual: false
2024-03-19T14:51:58.4766992Z Expected: true
2024-03-19T14:51:58.4767623Z %SRC_DIR%\unittests\integration\test_Collision.cpp(461): error: Value of: contact.point.isApprox(Eigen::Vector3d::UnitX(), tol)
2024-03-19T14:51:58.4768170Z   Actual: false
2024-03-19T14:51:58.4768549Z Expected: true
2024-03-19T14:51:58.4769331Z point: 0 0 0
2024-03-19T14:51:58.4769979Z point: -1  0  0
2024-03-19T14:51:58.4770880Z point: 0 0 0
2024-03-19T14:51:58.4771305Z [  FAILED  ] Collision.SphereSphere (4 ms)

Not sure if this is related to ODE or not.

traversaro commented 8 months ago

Perhaps related: https://github.com/dartsim/dart/issues/876 .

github-actions[bot] commented 7 months ago

Hi! This is the friendly conda-forge automerge bot!

Commits were made to this PR after the automerge label was added. For security reasons, I have disabled automerge by removing the automerge label. Please add the automerge label again (or ask a maintainer to do so) if you'd like to enable automerge again!

traversaro commented 7 months ago

Great, now all the failures on Linux/macOS are done, we anyhow still have a Windows failure that anyhow is different from previous failures:

2024-03-19T14:51:58.4765666Z [ RUN      ] Collision.SphereSphere
2024-03-19T14:51:58.4766124Z %SRC_DIR%\unittests\integration\test_Collision.cpp(456): error: Value of: result.getNumContacts() == 1u
2024-03-19T14:51:58.4766630Z   Actual: false
2024-03-19T14:51:58.4766992Z Expected: true
2024-03-19T14:51:58.4767623Z %SRC_DIR%\unittests\integration\test_Collision.cpp(461): error: Value of: contact.point.isApprox(Eigen::Vector3d::UnitX(), tol)
2024-03-19T14:51:58.4768170Z   Actual: false
2024-03-19T14:51:58.4768549Z Expected: true
2024-03-19T14:51:58.4769331Z point: 0 0 0
2024-03-19T14:51:58.4769979Z point: -1  0  0
2024-03-19T14:51:58.4770880Z point: 0 0 0
2024-03-19T14:51:58.4771305Z [  FAILED  ] Collision.SphereSphere (4 ms)

Not sure if this is related to ODE or not.

I opened https://github.com/conda-forge/dartsim-feedstock/issues/63 to track this. In the meanwhile we can at least enable the collision test on Linux/macOS.

conda-forge / dartsim-feedstock

Enable test_Collision on Linux/macOS #60