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gazebosim / gz-physics

Abstract physics interface designed to support simulation and rapid development of robot applications.
https://gazebosim.org
Apache License 2.0
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JointDetach test now failing on macOS with ODE 0.16.5 #620

Open scpeters opened 2 months ago

scpeters commented 2 months ago

Environment

Description

75: [ RUN      ] JointFeaturesDetachTest/0.JointDetach
75: JointFeaturesTest::GetLibToTest() /Users/jenkins/jenkins-agent/workspace/gz_physics-ci-gz-physics7-homebrew-amd64/build/lib/libgz-physics7-dartsim-plugin.7.1.0.dylib
75: Testing plugin: gz::physics::dartsim::Plugin
75: Warning [Utils.cc:119] [/sdf/world[@name="test_world"]/model[@name="screw_joint_test"]/joint[@name="j0"]/thread_pitch]: SDF Element[thread_pitch] is deprecated
75: [Err] [SDFFeatures.cc:1164] Asked to construct a joint of sdf::JointType [7], but that is not supported yet. Creating a FIXED joint instead
75: [Err] [SDFFeatures.cc:1164] Asked to construct a joint of sdf::JointType [4], but that is not supported yet. Creating a FIXED joint instead
75: [Err] [SDFFeatures.cc:1164] Asked to construct a joint of sdf::JointType [2], but that is not supported yet. Creating a FIXED joint instead
75: /Users/jenkins/jenkins-agent/workspace/gz_physics-ci-gz-physics7-homebrew-amd64/gz-physics/test/common_test/joint_features.cc:969: Failure
75: The difference between 0.0 and upperLinkLinearVelocity.X() is 0.00035244933516466117, which exceeds 1e-6, where
75: 0.0 evaluates to 0,
75: upperLinkLinearVelocity.X() evaluates to -0.00035244933516466117, and
75: 1e-6 evaluates to 9.9999999999999995e-07.
75: /Users/jenkins/jenkins-agent/workspace/gz_physics-ci-gz-physics7-homebrew-amd64/gz-physics/test/common_test/joint_features.cc:971: Failure
75: The difference between 0.0 and upperLinkAngularVelocity.Y() is 0.00016783269763408969, which exceeds 1e-6, where
75: 0.0 evaluates to 0,
75: upperLinkAngularVelocity.Y() evaluates to -0.00016783269763408969, and
75: 1e-6 evaluates to 9.9999999999999995e-07.
75: Msg [NameManager::issueNewName] (Skeleton::Joint | double_pendulum_with_base) The name [Joint] is a duplicate, so it has been renamed to [Joint(1)]
75: [  FAILED  ] JointFeaturesDetachTest/0.JointDetach, where TypeParam = JointFeatureDetachList (154 ms)

This test has been failing since https://github.com/Homebrew/homebrew-core/pull/167158 was merged, and it has been suggested that this related to a change of the licccd configuration (see https://github.com/gazebosim/gz-physics/pull/615#issuecomment-2038341432).

Steps to reproduce

  1. Build from source
  2. ctest -R joint_features_dartsim -VV

Output

Crola1702 commented 2 months ago

I opened https://github.com/gazebosim/gz-physics/issues/626 and https://github.com/gazebosim/gz-physics/issues/627. Can you confirm they're related to the same Homebrew Core problem?