search

humanoid-path-planner / hpp-rbprm

"Implementation of RB-PRM planner using hpp."
5 stars 7 forks source link

failing tests #73

Closed nim65s closed 4 years ago

nim65s commented 4 years ago

Hi,

I got 2 failing tests.

I'm on the release/4.9.0 branch of this package, and all dependencies, which is equivalent to master, except on hpp-bezier-com-traj, hpp-centroidal-dynamics & hpp-affordance, where it is devel.

Reachability

…/hpp-rbprm/tests/test-reachability.cc(34): error: in "reachability_quasiStatic/kin_constraints_loaded": check lit->second->kinematicConstraints_.first.rows() > 0 has failed
…/hpp-rbprm/tests/test-reachability.cc(35): error: in "reachability_quasiStatic/kin_constraints_loaded": check lit->second->kinematicConstraints_.second.rows() > 0 has failed
…/hpp-rbprm/tests/test-reachability.cc(34): error: in "reachability_quasiStatic/kin_constraints_loaded": check lit->second->kinematicConstraints_.first.rows() > 0 has failed
…/hpp-rbprm/tests/test-reachability.cc(35): error: in "reachability_quasiStatic/kin_constraints_loaded": check lit->second->kinematicConstraints_.second.rows() > 0 has failed
…/hpp-rbprm/tests/test-reachability.cc(130): error: in "reachability_quasiStatic/reachable_quasiStatic_rightFoot_front": check !reachability::isReachable(fullBody, s0, s09).success() has failed
…/hpp-rbprm/tests/test-reachability.cc(131): error: in "reachability_quasiStatic/reachable_quasiStatic_rightFoot_front": check !reachability::isReachable(fullBody, s0, s10).success() has failed
…/hpp-rbprm/tests/test-reachability.cc(217): error: in "reachability_quasiStatic/reachable_quasiStatic_leftFoot_left": check reachability::isReachable(fullBody, s0, s01).success() has failed
…/hpp-rbprm/tests/test-reachability.cc(220): error: in "reachability_quasiStatic/reachable_quasiStatic_leftFoot_left": check reachability::isReachable(fullBody, s0, s04).success() has failed
…/hpp-rbprm/tests/test-reachability.cc(224): error: in "reachability_quasiStatic/reachable_quasiStatic_leftFoot_left": check !reachability::isReachable(fullBody, s0, s07).success() has failed

plus hundreds of [ERROR centroidal_dynamics.cpp 527] numerical instability in cddlib. ill formed polytope

limb-rrt

terminate called after throwing an instance of 'std::invalid_argument'
  what():  "\"The first configuration vector is not of the right size\""
Running 1 test case...
unknown location(0): fatal error: in "test_limb_rrt/limbRRTflat": signal: SIGABRT (application abort requested)
…/hpp-rbprm/tests/test-limb-rrt.cc(136): last checkpoint

Does anyone have a idea where should I look, or need a clean way to reproduce that ?

pFernbach commented 4 years ago

The first errors look like a dependency or path issue. I think that it couldn't correctly load the constraints file. If you have the hppDebug message, could you look for a warning that start with "Unable to load kinematics constraints :" ?

The files should be in "package://talos-rbprm/com_inequalities/"+limb_->name()+"_com_constraints.obj"

nim65s commented 4 years ago

I can confirm this fix the issue for my release, thanks a lot !