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robotology / gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).
BSD 3-Clause "New" or "Revised" License
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Get joint torque value from TransmittedJointTorque returned by gz-sim #86

Closed xela-95 closed 4 months ago

xela-95 commented 4 months ago

Closes #81

This PR aims at computing the value of the joint torque from the corresponding JointTransmittedWrench returned by the gz-sim simulator. At the moment this is supported only for revolute joints.

codecov[bot] commented 4 months ago

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Comparison is base (5f4815a) 83.31% compared to head (efe775d) 61.25%.

Additional details and impacted files ```diff @@ Coverage Diff @@ ## main #86 +/- ## =========================================== - Coverage 83.31% 61.25% -22.07% =========================================== Files 16 20 +4 Lines 1001 1768 +767 =========================================== + Hits 834 1083 +249 - Misses 167 685 +518 ```

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xela-95 commented 4 months ago

@traversaro with https://github.com/robotology/gz-sim-yarp-plugins/pull/86/commits/599fab040180120c314e66cd77eceed108ee70e7 I started having a working (not passing) unit test. It was quite hard to understand how the fixture works but basically it calls the callbacks (OnConfigure, OnPreUpdate, OnPostUpdate) after having called the corresponding methods for the plugin, so it's easy to obtain data directly from the device without having to duplicate configuration code already done in the plugin classes.

Here the logs of the test launched with $ ctest -R ControlBoardTest --verbose for 10 iterations:

Details ``` UpdateCTestConfiguration from :/home/acroci/repos/gz-sim-yarp-plugins/build/DartConfiguration.tcl Parse Config file:/home/acroci/repos/gz-sim-yarp-plugins/build/DartConfiguration.tcl UpdateCTestConfiguration from :/home/acroci/repos/gz-sim-yarp-plugins/build/DartConfiguration.tcl Parse Config file:/home/acroci/repos/gz-sim-yarp-plugins/build/DartConfiguration.tcl Test project /home/acroci/repos/gz-sim-yarp-plugins/build Constructing a list of tests Done constructing a list of tests Updating test list for fixtures Added 0 tests to meet fixture requirements Checking test dependency graph... Checking test dependency graph end test 6 Start 6: ControlBoardTest 6: Test command: /home/acroci/repos/gz-sim-yarp-plugins/build/bin/ControlBoardTest 6: Working Directory: /home/acroci/repos/gz-sim-yarp-plugins/build/tests/controlboard 6: Environment variables: 6: GZ_SIM_SYSTEM_PLUGIN_PATH=/home/acroci/repos/gz-sim-yarp-plugins/build/lib 6: Test timeout computed to be: 1500 6: Running main() from /home/acroci/repos/gz-sim-yarp-plugins/build/_deps/googletest-src/googletest/src/gtest_main.cc 6: [==========] Running 1 test from 1 test suite. 6: [----------] Global test environment set-up. 6: [----------] 1 test from ControlBoardTest 6: [ RUN ] ControlBoardTest.GetTorqueWithPendulumJointRelativeToParentLink 6: [Msg] Loading SDF world file[/home/acroci/repos/gz-sim-yarp-plugins/tests/controlboard/pendulum_joint_relative_to_parent_link.sdf]. 6: [Msg] Serving entity system service on [/entity/system/add] 6: [INFO] gz-sim-yarp-controlboard-system: configuration of device controlboard_plugin_device loaded from yarpConfigurationFile : ../../../tests/controlboard/conf/gazebo_controlboard.ini 6: [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/single_pendulum 6: [DEBUG] gz-sim-yarp-controlboard-system : device scoped name: model/single_pendulum/controlboard_plugin_device 6: [DEBUG] gz-sim-yarp-controlboard-system: initialConfiguration: 0.0 0.0 6: [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (GAZEBO_PIDS (Pid0 1000.0 2.0 0.100000000000000005551 9999 9999 9 9)) (GAZEBO_VELOCITY_PIDS (Pid0 500.0 2.0 0.100000000000000005551 9999 9999 9 9)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (initialConfiguration "0.0 0.0") (jointNames upper_joint) (name "model/single_pendulum/controlboard_plugin_device") (robotScopedName "model/single_pendulum") (yarpDeviceName controlboard_plugin_device) 6: [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. 6: [INFO] Found 1 joints from the plugin configuration. 6: [INFO] Found 1 joints from the model description. 6: [INFO] Joint upper_joint added to the control board data. 6: [INFO] Registered YARP device with instance name: model/single_pendulum/controlboard_plugin_device 6: [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8] 6: [Msg] Loaded level [3] 6: [Msg] No systems loaded from SDF, loading defaults 6: [Dbg] [ServerConfig.cc:1062] Loaded (3) plugins from file [/home/acroci/.gz/sim/7/server.config] 6: [Dbg] [Physics.cc:880] Loaded [gz::physics::dartsim::Plugin] from library [/home/acroci/mambaforge/envs/gz7/lib/gz-physics-6/engine-plugins/libgz-physics-dartsim-plugin.so] 6: [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1] 6: [Msg] Create service on [/world/turorial_controlboard/create] 6: [Msg] Remove service on [/world/turorial_controlboard/remove] 6: [Msg] Pose service on [/world/turorial_controlboard/set_pose] 6: [Msg] Pose service on [/world/turorial_controlboard/set_pose_vector] 6: [Msg] Light configuration service on [/world/turorial_controlboard/light_config] 6: [Msg] Physics service on [/world/turorial_controlboard/set_physics] 6: [Msg] SphericalCoordinates service on [/world/turorial_controlboard/set_spherical_coordinates] 6: [Msg] Enable collision service on [/world/turorial_controlboard/enable_collision] 6: [Msg] Disable collision service on [/world/turorial_controlboard/disable_collision] 6: [Msg] Material service on [/world/turorial_controlboard/visual_config] 6: [Msg] Material service on [/world/turorial_controlboard/wheel_slip] 6: [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1] 6: [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] 6: [Msg] Serving world controls on [/world/turorial_controlboard/control], [/world/turorial_controlboard/control/state] and [/world/turorial_controlboard/playback/control] 6: [Msg] Serving GUI information on [/world/turorial_controlboard/gui/info] 6: [Msg] World [turorial_controlboard] initialized with [default_physics] physics profile. 6: [Msg] Serving world SDF generation service on [/world/turorial_controlboard/generate_world_sdf] 6: [Msg] Serving world names on [/gazebo/worlds] 6: [Msg] Resource path add service on [/gazebo/resource_paths/add]. 6: [Msg] Resource path get service on [/gazebo/resource_paths/get]. 6: [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. 6: [Msg] Resource paths published on [/gazebo/resource_paths]. 6: [Msg] Server control service on [/server_control]. 6: ========== configuring test 6: ========== test configured 6: [Msg] Found no publishers on /stats, adding root stats topic 6: [Msg] Found no publishers on /clock, adding root clock topic 6: [Dbg] [SimulationRunner.cc:503] Creating PostUpdate worker threads: 4 6: [Dbg] [SimulationRunner.cc:514] Creating postupdate worker thread (0) 6: [Dbg] [SimulationRunner.cc:514] Creating postupdate worker thread (1) 6: [Dbg] [SimulationRunner.cc:514] Creating postupdate worker thread (2) 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 1 - expected: 3.72667 6: /home/acroci/repos/gz-sim-yarp-plugins/tests/controlboard/ControlBoardTest.cc:133: Failure 6: The difference between joint_torque and expected_joint_torque is 2.7266711729438957, which exceeds 1e-3, where 6: joint_torque evaluates to 1.0000000000000004, 6: expected_joint_torque evaluates to 3.7266711729438962, and 6: 1e-3 evaluates to 0.001. 6: ========== Test PostUpdate done 6: [Msg] Serving scene information on [/world/turorial_controlboard/scene/info] 6: [Msg] Serving graph information on [/world/turorial_controlboard/scene/graph] 6: [Msg] Serving full state on [/world/turorial_controlboard/state] 6: [Msg] Serving full state (async) on [/world/turorial_controlboard/state_async] 6: [Msg] Publishing scene information on [/world/turorial_controlboard/scene/info] 6: [Msg] Publishing entity deletions on [/world/turorial_controlboard/scene/deletion] 6: [Msg] Publishing state changes on [/world/turorial_controlboard/state] 6: [Msg] Publishing pose messages on [/world/turorial_controlboard/pose/info] 6: [Msg] Publishing dynamic pose messages on [/world/turorial_controlboard/dynamic_pose/info] 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 1 - expected: 3.86 6: /home/acroci/repos/gz-sim-yarp-plugins/tests/controlboard/ControlBoardTest.cc:133: Failure 6: The difference between joint_torque and expected_joint_torque is 2.8599995830232632, which exceeds 1e-3, where 6: joint_torque evaluates to 1.0000000000000009, 6: expected_joint_torque evaluates to 3.8599995830232641, and 6: 1e-3 evaluates to 0.001. 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 1 - expected: 3.86 6: /home/acroci/repos/gz-sim-yarp-plugins/tests/controlboard/ControlBoardTest.cc:133: Failure 6: The difference between joint_torque and expected_joint_torque is 2.8599999987607081, which exceeds 1e-3, where 6: joint_torque evaluates to 0.99999999999999978, 6: expected_joint_torque evaluates to 3.8599999987607081, and 6: 1e-3 evaluates to 0.001. 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 1 - expected: 3.86 6: /home/acroci/repos/gz-sim-yarp-plugins/tests/controlboard/ControlBoardTest.cc:133: Failure 6: The difference between joint_torque and expected_joint_torque is 2.8599999971054046, which exceeds 1e-3, where 6: joint_torque evaluates to 1.0000000000000002, 6: expected_joint_torque evaluates to 3.8599999971054046, and 6: 1e-3 evaluates to 0.001. 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 1 - expected: 3.86 6: /home/acroci/repos/gz-sim-yarp-plugins/tests/controlboard/ControlBoardTest.cc:133: Failure 6: The difference between joint_torque and expected_joint_torque is 2.8599999941244656, which exceeds 1e-3, where 6: joint_torque evaluates to 1.0000000000000002, 6: expected_joint_torque evaluates to 3.8599999941244656, and 6: 1e-3 evaluates to 0.001. 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 1 - expected: 3.86 6: /home/acroci/repos/gz-sim-yarp-plugins/tests/controlboard/ControlBoardTest.cc:133: Failure 6: The difference between joint_torque and expected_joint_torque is 2.8599999892427928, which exceeds 1e-3, where 6: joint_torque evaluates to 1, 6: expected_joint_torque evaluates to 3.8599999892427928, and 6: 1e-3 evaluates to 0.001. 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 1 - expected: 3.86 6: /home/acroci/repos/gz-sim-yarp-plugins/tests/controlboard/ControlBoardTest.cc:133: Failure 6: The difference between joint_torque and expected_joint_torque is 2.8599999817791497, which exceeds 1e-3, where 6: joint_torque evaluates to 0.99999999999999978, 6: expected_joint_torque evaluates to 3.8599999817791497, and 6: 1e-3 evaluates to 0.001. 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 1 - expected: 3.86 6: /home/acroci/repos/gz-sim-yarp-plugins/tests/controlboard/ControlBoardTest.cc:133: Failure 6: The difference between joint_torque and expected_joint_torque is 2.859999970947368, which exceeds 1e-3, where 6: joint_torque evaluates to 0.99999999999999933, 6: expected_joint_torque evaluates to 3.8599999709473671, and 6: 1e-3 evaluates to 0.001. 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 1 - expected: 3.86 6: /home/acroci/repos/gz-sim-yarp-plugins/tests/controlboard/ControlBoardTest.cc:133: Failure 6: The difference between joint_torque and expected_joint_torque is 2.85999995585634, which exceeds 1e-3, where 6: joint_torque evaluates to 0.99999999999999978, 6: expected_joint_torque evaluates to 3.85999995585634, and 6: 1e-3 evaluates to 0.001. 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 1 - expected: 3.86 6: /home/acroci/repos/gz-sim-yarp-plugins/tests/controlboard/ControlBoardTest.cc:133: Failure 6: The difference between joint_torque and expected_joint_torque is 2.8599999355100252, which exceeds 1e-3, where 6: joint_torque evaluates to 0.99999999999999978, 6: expected_joint_torque evaluates to 3.8599999355100247, and 6: 1e-3 evaluates to 0.001. 6: ========== Test PostUpdate done 6: [Dbg] [SimulationRunner.cc:530] [Dbg] [SimulationRunner.cc:530] [Dbg] [SimulationRunner.cc:530] Exiting postupdate worker thread (1) 6: Exiting postupdate worker thread (0) 6: Exiting postupdate worker thread (2) 6: [ FAILED ] ControlBoardTest.GetTorqueWithPendulumJointRelativeToParentLink (2026 ms) 6: [----------] 1 test from ControlBoardTest (2026 ms total) 6: 6: [----------] Global test environment tear-down 6: [==========] 1 test from 1 test suite ran. (2026 ms total) 6: [ PASSED ] 0 tests. 6: [ FAILED ] 1 test, listed below: 6: [ FAILED ] ControlBoardTest.GetTorqueWithPendulumJointRelativeToParentLink 6: 6: 1 FAILED TEST 1/1 Test #6: ControlBoardTest .................***Failed 2.07 sec 0% tests passed, 1 tests failed out of 1 Total Test time (real) = 2.07 sec The following tests FAILED: 6 - ControlBoardTest (Failed) Errors while running CTest Output from these tests are in: /home/acroci/repos/gz-sim-yarp-plugins/build/Testing/Temporary/LastTest.log Use "--rerun-failed --output-on-failure" to re-run the failed cases verbosely. ```

The mismatch between joint and link quantities is due to the fact that I can access from the Link API link quantities expressed in world frame. I have to understand how to change the reference frame.

xela-95 commented 4 months ago

With the last commit I introduced some modifications to the SDF model used for the test:

I've modified also the unit test code: now it uses the correct inertia for the link and while I'm trying to understand how to get the joint acceleration, I'm using the finite differences computations of the joint velocity. An alternative could be to use the link angular acceleration.

The test is now passing, but is numerically fragile due to the finite difference computation of the joint acceleration. I've posted questions on how to get the data from Gazebo in the OSRF Discord channel and on Robotics Stack Exchange).

Now I can focus on testing different models (e.g. when the joint frame is defined wrt the child link or arbitrary frames) and check whether my code to compute the torque projected on the joint axis works.

Test Logs ```UpdateCTestConfiguration from :/home/acroci/repos/gz-sim-yarp-plugins/build/DartConfiguration.tcl Parse Config file:/home/acroci/repos/gz-sim-yarp-plugins/build/DartConfiguration.tcl UpdateCTestConfiguration from :/home/acroci/repos/gz-sim-yarp-plugins/build/DartConfiguration.tcl Parse Config file:/home/acroci/repos/gz-sim-yarp-plugins/build/DartConfiguration.tcl Test project /home/acroci/repos/gz-sim-yarp-plugins/build Constructing a list of tests Done constructing a list of tests Updating test list for fixtures Added 0 tests to meet fixture requirements Checking test dependency graph... Checking test dependency graph end test 6 Start 6: ControlBoardTest 6: Test command: /home/acroci/repos/gz-sim-yarp-plugins/build/bin/ControlBoardTest 6: Working Directory: /home/acroci/repos/gz-sim-yarp-plugins/build/tests/controlboard 6: Environment variables: 6: GZ_SIM_SYSTEM_PLUGIN_PATH=/home/acroci/repos/gz-sim-yarp-plugins/build/lib 6: Test timeout computed to be: 1500 6: Running main() from /home/acroci/repos/gz-sim-yarp-plugins/build/_deps/googletest-src/googletest/src/gtest_main.cc 6: [==========] Running 1 test from 1 test suite. 6: [----------] Global test environment set-up. 6: [----------] 1 test from ControlBoardTest 6: [ RUN ] ControlBoardTest.GetTorqueWithPendulumJointRelativeToParentLink 6: [Msg] Loading SDF world file[/home/acroci/repos/gz-sim-yarp-plugins/tests/controlboard/pendulum_joint_relative_to_parent_link.sdf]. 6: [Msg] Serving entity system service on [/entity/system/add] 6: [INFO] gz-sim-yarp-controlboard-system: configuration of device controlboard_plugin_device loaded from yarpConfigurationFile : ../../../tests/controlboard/conf/gazebo_controlboard.ini 6: [DEBUG] gz-sim-yarp-controlboard-system : robot scoped name: model/single_pendulum 6: [DEBUG] gz-sim-yarp-controlboard-system : device scoped name: model/single_pendulum/controlboard_plugin_device 6: [DEBUG] gz-sim-yarp-controlboard-system: initialConfiguration: 0.0 0.0 6: [DEBUG] |yarp.dev.PolyDriver|gazebo_controlboard| Parameters are (GAZEBO_PIDS (Pid0 1000.0 2.0 0.100000000000000005551 9999 9999 9 9)) (GAZEBO_VELOCITY_PIDS (Pid0 500.0 2.0 0.100000000000000005551 9999 9999 9 9)) (device gazebo_controlboard) (disableImplicitNetworkWrapper) (initialConfiguration "0.0 0.0") (jointNames upper_joint) (name "model/single_pendulum/controlboard_plugin_device") (robotScopedName "model/single_pendulum") (yarpDeviceName controlboard_plugin_device) 6: [INFO] |yarp.dev.PolyDriver|gazebo_controlboard| Created device . See C++ class ControlBoardDriver for documentation. 6: [INFO] Found 1 joints from the plugin configuration. 6: [INFO] Found 1 joints from the model description. 6: [INFO] Joint upper_joint added to the control board data. 6: [INFO] Registered YARP device with instance name: model/single_pendulum/controlboard_plugin_device 6: [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8] 6: [Msg] Loaded level [3] 6: [Msg] No systems loaded from SDF, loading defaults 6: [Dbg] [ServerConfig.cc:1062] Loaded (3) plugins from file [/home/acroci/.gz/sim/7/server.config] 6: [Dbg] [Physics.cc:880] Loaded [gz::physics::dartsim::Plugin] from library [/home/acroci/mambaforge/envs/gz7/lib/gz-physics-6/engine-plugins/libgz-physics-dartsim-plugin.so] 6: [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1] 6: [Msg] Create service on [/world/turorial_controlboard/create] 6: [Msg] Remove service on [/world/turorial_controlboard/remove] 6: [Msg] Pose service on [/world/turorial_controlboard/set_pose] 6: [Msg] Pose service on [/world/turorial_controlboard/set_pose_vector] 6: [Msg] Light configuration service on [/world/turorial_controlboard/light_config] 6: [Msg] Physics service on [/world/turorial_controlboard/set_physics] 6: [Msg] SphericalCoordinates service on [/world/turorial_controlboard/set_spherical_coordinates] 6: [Msg] Enable collision service on [/world/turorial_controlboard/enable_collision] 6: [Msg] Disable collision service on [/world/turorial_controlboard/disable_collision] 6: [Msg] Material service on [/world/turorial_controlboard/visual_config] 6: [Msg] Material service on [/world/turorial_controlboard/wheel_slip] 6: [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1] 6: [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] 6: [Msg] Serving world controls on [/world/turorial_controlboard/control], [/world/turorial_controlboard/control/state] and [/world/turorial_controlboard/playback/control] 6: [Msg] Serving GUI information on [/world/turorial_controlboard/gui/info] 6: [Msg] World [turorial_controlboard] initialized with [default_physics] physics profile. 6: [Msg] Serving world SDF generation service on [/world/turorial_controlboard/generate_world_sdf] 6: [Msg] Serving world names on [/gazebo/worlds] 6: [Msg] Resource path add service on [/gazebo/resource_paths/add]. 6: [Msg] Resource path get service on [/gazebo/resource_paths/get]. 6: [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. 6: [Msg] Resource paths published on [/gazebo/resource_paths]. 6: [Msg] Server control service on [/server_control]. 6: ========== configuring test 6: ========== test configured 6: [Msg] Found no publishers on /stats, adding root stats topic 6: [Msg] Found no publishers on /clock, adding root clock topic 6: [Dbg] [SimulationRunner.cc:503] Creating PostUpdate worker threads: 4 6: [Dbg] [SimulationRunner.cc:514] Creating postupdate worker thread (0) 6: [Dbg] [SimulationRunner.cc:514] Creating postupdate worker thread (1) 6: [Dbg] [SimulationRunner.cc:514] Creating postupdate worker thread (2) 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0999851 6: ========== Test PostUpdate done 6: [Msg] Serving scene information on [/world/turorial_controlboard/scene/info] 6: [Msg] Serving graph information on [/world/turorial_controlboard/scene/graph] 6: [Msg] Serving full state on [/world/turorial_controlboard/state] 6: [Msg] Serving full state (async) on [/world/turorial_controlboard/state_async] 6: [Msg] Publishing scene information on [/world/turorial_controlboard/scene/info] 6: [Msg] Publishing entity deletions on [/world/turorial_controlboard/scene/deletion] 6: [Msg] Publishing state changes on [/world/turorial_controlboard/state] 6: [Msg] Publishing pose messages on [/world/turorial_controlboard/pose/info] 6: [Msg] Publishing dynamic pose messages on [/world/turorial_controlboard/dynamic_pose/info] 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0999813 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0999738 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0999636 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0999505 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0999344 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0999154 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0998935 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0998686 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0998409 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0998102 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0997766 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.09974 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0997006 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0996582 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0996129 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0995647 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0995136 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0994596 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0994026 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0993428 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.09928 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0992143 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0991457 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0990742 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0989998 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0989224 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0988422 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.098759 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.098673 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.098584 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0984922 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0983974 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0982997 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0981992 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0980957 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0979894 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0978801 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.097768 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.097653 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.097535 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0974142 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0972905 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.097164 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0970345 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0969022 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0967669 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0966289 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.0964879 6: ========== Test PostUpdate done 6: ========== Test PreUpdate 6: ========== Test PreUpdate done 6: ========== Test PostUpdate 6: Torque measured: 0.1 - expected: 0.096344 6: ========== Test PostUpdate done 6: [Dbg] [SimulationRunner.cc:530] [Dbg] [SimulationRunner.cc:530] [Dbg] [SimulationRunner.cc:530] Exiting postupdate worker thread (0) 6: [Dbg] [SimulationRunner.cc:530] [Dbg] [SimulationRunner.cc:530] Exiting postupdate worker thread (1) 6: Exiting postupdate worker thread (2) 6: [ OK ] ControlBoardTest.GetTorqueWithPendulumJointRelativeToParentLink (2070 ms) 6: [----------] 1 test from ControlBoardTest (2070 ms total) 6: 6: [----------] Global test environment tear-down 6: [==========] 1 test from 1 test suite ran. (2070 ms total) 6: [ PASSED ] 1 test. 1/1 Test #6: ControlBoardTest ................. Passed 2.11 sec ```
xela-95 commented 4 months ago

I've seen that on macos the test on the controlboard is failing: https://github.com/robotology/gz-sim-yarp-plugins/actions/runs/7974385463/job/21770152674?pr=86#step:12:40257

It seems to be related to a lock issue... strange that is happening only there, maybe there is still a mutex error that happens in a transient way 🤔

traversaro commented 4 months ago

Based on https://stackoverflow.com/questions/66773247/libcabi-dylib-terminating-with-uncaught-exception-of-type-std-1system-er, perhaps we have some static mutex somewhere? If we can't find the culprit easily, I have also a macos mini you can used for debug. If we can't find the solution, we could also just suppress the test on macos for the time being.

xela-95 commented 4 months ago

Based on https://stackoverflow.com/questions/66773247/libcabi-dylib-terminating-with-uncaught-exception-of-type-std-1system-er, perhaps we have some static mutex somewhere? If we can't find the culprit easily, I have also a macos mini you can used for debug. If we can't find the solution, we could also just suppress the test on macos for the time being.

Yep we use static mutexes in every singleton class of each plugin, plus the robotinterface singleton. Do you suggest any tool useful to debug such errors?

xela-95 commented 4 months ago

With commit efe775d I disabled the second unit test, in order to make the CI pass. This issue will be addressed in #90, since it is unrelated to the current issue and it could affect all plugins.