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stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
http://stack-of-tasks.github.io/pinocchio/
BSD 2-Clause "Simplified" License
1.65k stars 358 forks source link

test-cpp-algorithm-utils-force failure on aarch64-linux with nix #2277

Open nim65s opened 4 weeks ago

nim65s commented 4 weeks ago

Hi,

This is a low priority report, but we're going to disable one test on nix under aarch64-linux, because it fails: https://hydra.nixos.org/build/262360337/nixlog/1

78/91 Test #79: test-cpp-algorithm-utils-force ..............***Failed    0.01 sec
Running 1 test case...
/build/source/unittest/algorithm/utils/force.cpp(57): error: in "Test/test_force": check changeReferenceFrame(placement, f_in, LOCAL_WORLD_ALIGNED, WORLD) == f_sol_w has failed

*** 1 failure is detected in the test module "Test"

If someone can see a fast and simple way to fix it, don't hesitate, but otherwise I'll work on it, at least to provide a simple way to reproduce it without any need for a full nix setup.

ref. https://github.com/NixOS/nixpkgs/pull/315303

jcarpent commented 4 weeks ago

If there is solution like a docker image we might give a try.

jcarpent commented 4 weeks ago

It might be just an issue with numerical issues.

jorisv commented 4 weeks ago

@nim65s While stabilizing pinocchio I had some similar issues in the conda-forge build farm that have custom CXXFLAGS. Do you know if the Nix build farm have custom CXXFLAGS also ?

nim65s commented 3 weeks ago

@jorisv : Here are the environment variables for this build: env-vars.txt Here is the full build command:

cd /tmp/nix-build-pinocchio-3.0.0.drv-0/source/build/unittest/algorithm/utils && /nix/store/bqwjxqdz2ywf5zy5lw7wbbkbswwbb26x-gcc-wrapper-13.2.0/bin/g++ -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DBOOST_TEST_DYN_LINK -DBOOST_TEST_MODULE=Test -DPINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION -DPINOCCHIO_MODEL_DIR=\"/tmp/nix-build-pinocchio-3.0.0.drv-0/source/models\" -I/tmp/nix-build-pinocchio-3.0.0.drv-0/source/build -I/tmp/nix-build-pinocchio-3.0.0.drv-0/source/build/include -I/tmp/nix-build-pinocchio-3.0.0.drv-0/source/include -I/tmp/nix-build-pinocchio-3.0.0.drv-0/source/unittest/algorithm/utils -isystem /nix/store/zfjwvcycdq7zp972xgnr3hd4wq3q5gyx-eigen-3.4.0/include/eigen3 -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion  -O3 -DNDEBUG -std=gnu++17 -MD -MT unittest/algorithm/utils/CMakeFiles/test-cpp-algorithm-utils-force.dir/force.cpp.o -MF CMakeFiles/test-cpp-algorithm-utils-force.dir/force.cpp.o.d -o CMakeFiles/test-cpp-algorithm-utils-force.dir/force.cpp.o -c /tmp/nix-build-pinocchio-3.0.0.drv-0/source/unittest/algorithm/utils/force.cpp

And here the linking command:

/nix/store/bqwjxqdz2ywf5zy5lw7wbbkbswwbb26x-gcc-wrapper-13.2.0/bin/g++ -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion  -O3 -DNDEBUG "CMakeFiles/test-cpp-algorithm-utils-force.dir/force.cpp.o" -o test-cpp-algorithm-utils-force  -Wl,-rpath,/tmp/nix-build-pinocchio-3.0.0.drv-0/source/build/src ../../../src/libpinocchio_default.so.3.0.0 /nix/store/ry00r7cmm95xcxkf5qsqhimhdlnqkkfp-boost-1.81.0/lib/libboost_unit_test_framework.so /nix/store/ry00r7cmm95xcxkf5qsqhimhdlnqkkfp-boost-1.81.0/lib/libboost_serialization.so

Can you spot any of those bad flags here ?