Gravity task and distance task QPIK test fails on windows
GiulioRomualdi opened this issue · comments
In #790 I noticed that Gravity task and distance task QPIK test failed on windows @EhsanRanjbari and @S-Dafarra.
As @S-Dafarra mentioned this is weird since the tests started failing recently with a huge error. This issue aims to investigate what is happening
Originally posted by @GiulioRomualdi in #790 (comment)
To simplify the debug:
- working configuration: https://github.com/ami-iit/bipedal-locomotion-framework/actions/runs/7523465014
- first not working job: https://github.com/ami-iit/bipedal-locomotion-framework/actions/runs/7536153930
That's the diff between the two conda envs. The main difference I see is iDynTree and osqp @traversaro
5c5
< aom 3.5.0 h63175ca_0 conda-forge
---
> aom 3.6.1 h63175ca_0 conda-forge
7c7
< assimp 5.2.5 h4dcb625_0 conda-forge
---
> assimp 5.3.1 h4dcb625_1 conda-forge
13c13
< casadi 3.6.2 py310ha06830a_0 conda-forge
---
> casadi 3.6.3 py310hc65f482_3 conda-forge
21c21
< dav1d 1.2.0 hcfcfb64_0 conda-forge
---
> dav1d 1.2.1 hcfcfb64_0 conda-forge
27c27
< ffmpeg 5.1.2 gpl_h5037a79_109 conda-forge
---
> ffmpeg 5.1.2 gpl_h8bb4bc8_112 conda-forge
42a43
> glfw 3.3.9 hcfcfb64_0 conda-forge
53c54
< idyntree 8.1.0 py310h481cdde_1 conda-forge
---
> idyntree 10.2.0 py310h042274b_0 conda-forge
58c59
< ipopt 3.14.11 ha9547d1_0 conda-forge
---
> ipopt 3.14.13 ha9547d1_0 conda-forge
69,70c70,71
< libclang 15.0.7 default_h77d9078_3 conda-forge
< libclang13 15.0.7 default_h77d9078_3 conda-forge
---
> libclang 15.0.7 default_hde6756a_4 conda-forge
> libclang13 15.0.7 default_h85b4d89_4 conda-forge
77c78
< libhwloc 2.9.1 h51c2c0f_0 conda-forge
---
> libhwloc 2.9.3 default_haede6df_1009 conda-forge
87c88
< libosqp 0.6.2 h63175ca_4 conda-forge
---
> libosqp 0.6.3 h63175ca_0 conda-forge
95c96
< libunicycle-footstep-planner 0.6.0 h63175ca_0 conda-forge
---
> libunicycle-footstep-planner 0.7.0 h63175ca_0 conda-forge
98c99
< libxml2 2.10.4 hc3477c8_0 conda-forge
---
> libxml2 2.12.4 hc3477c8_1 conda-forge
109c110
< metis 5.1.0 h63175ca_1007 conda-forge
---
> metis 5.1.1 h63175ca_2 conda-forge
121c122
< osqp-eigen 0.8.0 h63175ca_0 conda-forge
---
> osqp-eigen 0.8.1 h6d7489e_0 conda-forge
129c130
< proxsuite 0.3.7 py310h5588dad_0 conda-forge
---
> proxsuite 0.5.1 py310h5588dad_1 conda-forge
229c230
< tbb 2021.9.0 h91493d7_0 conda-forge
---
> tbb 2021.11.0 h91493d7_0 conda-forge
275c276
< USERDOMAIN_ROAMINGPROFILE=fv-az741-700
---
> USERDOMAIN_ROAMINGPROFILE=fv-az1112-453
278c279
< HOSTNAME=fv-az741-700
---
> HOSTNAME=fv-az1112-453
280c281
< GITHUB_PATH=D:\a\_temp\_runner_file_commands\add_path_13b8f5dc-a1bb-4553-ae5d-846d4ce8c280
---
> GITHUB_PATH=D:\a\_temp\_runner_file_commands\add_path_cdab868f-d3f1-45e2-95a3-55d06301913d
288,289c289,290
< GITHUB_RUN_NUMBER=4071
< RUNNER_NAME=GitHub Actions 6
---
> GITHUB_RUN_NUMBER=4072
> RUNNER_NAME=GitHub Actions 5
306c307
< USERDOMAIN=fv-az741-700
---
> USERDOMAIN=fv-az1112-453
343c344
< RUNNER_TRACKING_ID=github_687aa1cb-3cde-4d1e-aba6-9032b5f8e5bf
---
> RUNNER_TRACKING_ID=github_670ff035-73ae-4224-890a-b2457d691e6b
350c351
< GITHUB_STATE=D:\a\_temp\_runner_file_commands\save_state_13b8f5dc-a1bb-4553-ae5d-846d4ce8c280
---
> GITHUB_STATE=D:\a\_temp\_runner_file_commands\save_state_cdab868f-d3f1-45e2-95a3-55d06301913d
355c356
< GITHUB_ENV=D:\a\_temp\_runner_file_commands\set_env_13b8f5dc-a1bb-4553-ae5d-846d4ce8c280
---
> GITHUB_ENV=D:\a\_temp\_runner_file_commands\set_env_cdab868f-d3f1-45e2-95a3-55d06301913d
361c362
< GITHUB_RUN_ID=7523465014
---
> GITHUB_RUN_ID=7536153930
365c366
< GITHUB_STEP_SUMMARY=D:\a\_temp\_runner_file_commands\step_summary_13b8f5dc-a1bb-4553-ae5d-846d4ce8c280
---
> GITHUB_STEP_SUMMARY=D:\a\_temp\_runner_file_commands\step_summary_cdab868f-d3f1-45e2-95a3-55d06301913d
367c368
< COMPUTERNAME=fv-az741-700
---
> COMPUTERNAME=fv-az1112-453
376c377
< LOGONSERVER=\\fv-az741-700
---
> LOGONSERVER=\\fv-az1112-453
449c450
< GITHUB_OUTPUT=D:\a\_temp\_runner_file_commands\set_output_13b8f5dc-a1bb-4553-ae5d-846d4ce8c280
---
> GITHUB_OUTPUT=D:\a\_temp\_runner_file_commands\set_output_cdab868f-d3f1-45e2-95a3-55d06301913d
That's the diff between the two conda envs. The main difference I see is iDynTree @traversaro
I think the problem is metis 5.1.1 . It created problems in other packages (see conda-forge/mumps-feedstock#106) and this is why in conda-forge we reverted back to pin metis to 5.1.0 right this afternoon: conda-forge/conda-forge-pinning-feedstock#5396 . I tought we were safe from that as we did not migrated ipopt to metis 5.1.1 (see conda-forge/ipopt-feedstock#97), but I guess that ipopt Windows packages do not depend directly on metis, and so once a new mumps compiled against metis 5.1.1 version was released, we ended up with ipopt installed with metis 5.1.1 .
The good news is that we are now safe, we just need to compile ipopt with the latest mumps (happening soon, the migration to 5.6.2 was merged in conda-forge/conda-forge-pinning-feedstock#5274 and the bot will start to open PRs soon) and the CI will be fixed.
The nice thing is that I did metis 5.1.1 related comments and fixes the last few days, but I was not aware that it already was affecting blf! :D
See https://conda-forge.org/status/#mumps_mpi562 for the migration that should as a side effect fix this.
I was thinking more a problem of osqp since it is the solver we use for the IK. I don't know if osqp is affected by metis
Actually, also osqp changed from 0.6.2 to 0.6.3, as @GiulioRomualdi noticed above
Yes, exactly, the IK uses osqp 🤔
Ah, you are right, I was confusing this with iDynTree's IK.
I reproduced the failure locally with a minimal env create as:
mamba create -n blfmindev cmake pkg-config ninja make spdlog eigen idyntree liblie-group-controllers nlohmann_json osqp-eigen vs2022_win-64
detail env:
assimp 5.3.1 h81f0834_2 conda-forge
bzip2 1.0.8 hcfcfb64_5 conda-forge
c-compiler 1.7.0 hcfcfb64_0 conda-forge
ca-certificates 2023.11.17 h56e8100_0 conda-forge
catch2 3.5.2 h181d51b_0 conda-forge
clangdev 5.0.0 flang_3 conda-forge
cmake 3.28.1 hf0feee3_0 conda-forge
compilers 1.7.0 h57928b3_0 conda-forge
cxx-compiler 1.7.0 h91493d7_0 conda-forge
eigen 3.4.0 h91493d7_0 conda-forge
flang 5.0.0 he025d50_20180525 conda-forge
flang_win-64 5.0.0 h13ae965_20180526 conda-forge
fmt 10.2.1 h181d51b_0 conda-forge
fortran-compiler 1.7.0 h9655429_0 conda-forge
gettext 0.21.1 h5728263_0 conda-forge
glfw 3.3.9 hcfcfb64_0 conda-forge
gtest 1.14.0 h91493d7_1 conda-forge
idyntree 10.2.0 py312h5ac85b2_1 conda-forge
intel-openmp 2023.2.0 h57928b3_50497 conda-forge
ipopt 3.14.13 ha9547d1_0 conda-forge
irrlicht 1.8.5 h65f4d7e_4 conda-forge
krb5 1.21.2 heb0366b_0 conda-forge
libblas 3.9.0 20_win64_mkl conda-forge
libboost 1.82.0 h65993cd_6 conda-forge
libcblas 3.9.0 20_win64_mkl conda-forge
libcurl 8.5.0 hd5e4a3a_0 conda-forge
libexpat 2.5.0 h63175ca_1 conda-forge
libffi 3.4.2 h8ffe710_5 conda-forge
libflang 5.0.0 h6538335_20180525 conda-forge
libglib 2.78.3 h16e383f_0 conda-forge
libhwloc 2.9.3 default_haede6df_1009 conda-forge
libiconv 1.17 hcfcfb64_2 conda-forge
libjpeg-turbo 3.0.0 hcfcfb64_1 conda-forge
liblapack 3.9.0 20_win64_mkl conda-forge
liblie-group-controllers 0.2.0 h63175ca_0 conda-forge
libosqp 0.6.3 h63175ca_0 conda-forge
libpng 1.6.39 h19919ed_0 conda-forge
libqdldl 0.1.5 h63175ca_1 conda-forge
libsqlite 3.44.2 hcfcfb64_0 conda-forge
libssh2 1.11.0 h7dfc565_0 conda-forge
libuv 1.44.2 hcfcfb64_1 conda-forge
libxml2 2.12.4 hc3477c8_1 conda-forge
libzlib 1.2.13 hcfcfb64_5 conda-forge
llvm-meta 5.0.0 0 conda-forge
m2w64-gcc-libgfortran 5.3.0 6 conda-forge
m2w64-gcc-libs 5.3.0 7 conda-forge
m2w64-gcc-libs-core 5.3.0 7 conda-forge
m2w64-gmp 6.1.0 2 conda-forge
m2w64-libwinpthread-git 5.0.0.4634.697f757 2 conda-forge
make 4.3 h3d2af85_1 conda-forge
manif 0.0.4 h63175ca_16 conda-forge
metis 5.1.1 h63175ca_2 conda-forge
mkl 2023.2.0 h6a75c08_50497 conda-forge
msys2-conda-epoch 20160418 1 conda-forge
mumps-seq 5.2.1 h1f49738_14 conda-forge
ninja 1.11.1 h91493d7_0 conda-forge
nlohmann_json 3.11.2 h39d44d4_0 conda-forge
numpy 1.26.3 py312h8753938_0 conda-forge
openmp 5.0.0 vc14_1 conda-forge
openssl 3.2.0 hcfcfb64_1 conda-forge
osqp-eigen 0.8.1 h6d7489e_0 conda-forge
pcre2 10.42 h17e33f8_0 conda-forge
pip 23.3.2 pyhd8ed1ab_0 conda-forge
pkg-config 0.29.2 h2bf4dc2_1008 conda-forge
pthreads-win32 2.9.1 hfa6e2cd_3 conda-forge
python 3.12.1 h2628c8c_1_cpython conda-forge
python_abi 3.12 4_cp312 conda-forge
sdl 1.2.68 h21dd15a_0 conda-forge
sdl2 2.28.5 h63175ca_0 conda-forge
setuptools 69.0.3 pyhd8ed1ab_0 conda-forge
spdlog 1.12.0 h64d2f7d_2 conda-forge
tbb 2021.11.0 h91493d7_0 conda-forge
tk 8.6.13 h5226925_1 conda-forge
tl-optional 1.1.0 h91493d7_1 conda-forge
tzdata 2023d h0c530f3_0 conda-forge
ucrt 10.0.22621.0 h57928b3_0 conda-forge
vc 14.3 hcf57466_18 conda-forge
vc14_runtime 14.38.33130 h82b7239_18 conda-forge
vs2015_runtime 14.38.33130 hcb4865c_18 conda-forge
vs2019_win-64 19.29.30139 he1865b1_18 conda-forge
vs2022_win-64 19.38.33130 h0bfb142_18 conda-forge
vswhere 3.1.4 h57928b3_0 conda-forge
wheel 0.42.0 pyhd8ed1ab_0 conda-forge
xz 5.2.6 h8d14728_0 conda-forge
zlib 1.2.13 hcfcfb64_5 conda-forge
zstd 1.5.5 h12be248_0 conda-forge
Also forcing libosqp to 0.6.2 result in the same error being generated:
# packages in environment at C:\Users\straversaro\AppData\Local\miniforge3\envs\blfmin2:
#
# Name Version Build Channel
assimp 5.2.5 h4dcb625_0 conda-forge
boost-cpp 1.78.0 h9f4b32c_4 conda-forge
bzip2 1.0.8 hcfcfb64_5 conda-forge
ca-certificates 2023.11.17 h56e8100_0 conda-forge
cmake 3.28.1 hf0feee3_0 conda-forge
eigen 3.4.0 h91493d7_0 conda-forge
fmt 10.2.1 h181d51b_0 conda-forge
gettext 0.21.1 h5728263_0 conda-forge
glfw 3.3.9 hcfcfb64_0 conda-forge
gtest 1.14.0 h91493d7_1 conda-forge
idyntree 9.1.0 py311h42847bd_0 conda-forge
intel-openmp 2023.2.0 h57928b3_50497 conda-forge
ipopt 3.14.12 ha9547d1_1 conda-forge
irrlicht 1.8.5 h65f4d7e_4 conda-forge
krb5 1.21.2 heb0366b_0 conda-forge
libblas 3.9.0 20_win64_mkl conda-forge
libcblas 3.9.0 20_win64_mkl conda-forge
libcurl 8.5.0 hd5e4a3a_0 conda-forge
libexpat 2.5.0 h63175ca_1 conda-forge
libffi 3.4.2 h8ffe710_5 conda-forge
libflang 5.0.0 h6538335_20180525 conda-forge
libglib 2.78.3 h16e383f_0 conda-forge
libhwloc 2.9.3 default_haede6df_1009 conda-forge
libiconv 1.17 hcfcfb64_2 conda-forge
libjpeg-turbo 3.0.0 hcfcfb64_1 conda-forge
liblapack 3.9.0 20_win64_mkl conda-forge
liblie-group-controllers 0.2.0 h63175ca_0 conda-forge
libosqp 0.6.2 h63175ca_4 conda-forge
libpng 1.6.39 h19919ed_0 conda-forge
libqdldl 0.1.5 h63175ca_1 conda-forge
libsqlite 3.44.2 hcfcfb64_0 conda-forge
libssh2 1.11.0 h7dfc565_0 conda-forge
libuv 1.44.2 hcfcfb64_1 conda-forge
libxml2 2.12.4 hc3477c8_1 conda-forge
libzlib 1.2.13 hcfcfb64_5 conda-forge
llvm-meta 5.0.0 0 conda-forge
m2w64-gcc-libgfortran 5.3.0 6 conda-forge
m2w64-gcc-libs 5.3.0 7 conda-forge
m2w64-gcc-libs-core 5.3.0 7 conda-forge
m2w64-gmp 6.1.0 2 conda-forge
m2w64-libwinpthread-git 5.0.0.4634.697f757 2 conda-forge
make 4.3 h3d2af85_1 conda-forge
manif 0.0.4 h63175ca_16 conda-forge
metis 5.1.0 h63175ca_1007 conda-forge
mkl 2023.2.0 h6a75c08_50497 conda-forge
msys2-conda-epoch 20160418 1 conda-forge
mumps-seq 5.2.1 h1f49738_14 conda-forge
ninja 1.11.1 h91493d7_0 conda-forge
nlohmann_json 3.11.2 h39d44d4_0 conda-forge
numpy 1.26.3 py311h0b4df5a_0 conda-forge
openmp 5.0.0 vc14_1 conda-forge
openssl 3.2.0 hcfcfb64_1 conda-forge
osqp-eigen 0.8.0 h63175ca_0 conda-forge
pcre2 10.42 h17e33f8_0 conda-forge
pip 23.3.2 pyhd8ed1ab_0 conda-forge
pkg-config 0.29.2 h2bf4dc2_1008 conda-forge
pthreads-win32 2.9.1 hfa6e2cd_3 conda-forge
python 3.11.7 h2628c8c_1_cpython conda-forge
python_abi 3.11 4_cp311 conda-forge
sdl 1.2.68 h21dd15a_0 conda-forge
sdl2 2.28.5 h63175ca_0 conda-forge
setuptools 69.0.3 pyhd8ed1ab_0 conda-forge
spdlog 1.12.0 h64d2f7d_2 conda-forge
tbb 2021.11.0 h91493d7_0 conda-forge
tk 8.6.13 h5226925_1 conda-forge
tl-optional 1.1.0 h91493d7_1 conda-forge
tzdata 2023d h0c530f3_0 conda-forge
ucrt 10.0.22621.0 h57928b3_0 conda-forge
vc 14.3 hcf57466_18 conda-forge
vc14_runtime 14.38.33130 h82b7239_18 conda-forge
vs2015_runtime 14.38.33130 hcb4865c_18 conda-forge
vs2022_win-64 19.38.33130 h0bfb142_18 conda-forge
vswhere 3.1.4 h57928b3_0 conda-forge
wheel 0.42.0 pyhd8ed1ab_0 conda-forge
xz 5.2.6 h8d14728_0 conda-forge
zlib 1.2.13 hcfcfb64_5 conda-forge
zstd 1.5.5 h12be248_0 conda-forge
An env created with:
mamba create -n blfmindev4 cmake pkg-config ninja make spdlog eigen idyntree liblie-group-controllers nlohmann_json osqp-eigen vs2022_win-64 tbb==2021.9.0 proxsuite==0.3.7 libxml2==2.12.4 aom==3.5.0 assimp==5.2.5 casadi==3.6.2 dav1d==1.2.0 ffmpeg=5.1.2 idyntree==8.1.0 ipopt==3.14.11 libhwloc==2.9.1 libosqp==0.6.2 libunicycle-footstep-planner==0.6.0 metis==5.1.0 osqp-eigen==0.8.0 proxsuite==0.3.7
works fine instead.
Ok, after a few iterations I found two environments quite similar (with same libosqp and osqp-eigen version, but one that fails, and one not.
One that fails:
# Not working
aom 3.5.0 h63175ca_0 conda-forge
assimp 5.2.5 h4dcb625_0 conda-forge
boost-cpp 1.78.0 h9f4b32c_4 conda-forge
bzip2 1.0.8 hcfcfb64_5 conda-forge
ca-certificates 2023.11.17 h56e8100_0 conda-forge
casadi 3.6.2 py311h4ef4915_1 conda-forge
cmake 3.28.1 hf0feee3_0 conda-forge
dav1d 1.2.1 hcfcfb64_0 conda-forge
eigen 3.4.0 h91493d7_0 conda-forge
expat 2.5.0 h63175ca_1 conda-forge
ffmpeg 6.0.0 gpl_h1f67d4f_104 conda-forge
fmt 10.2.1 h181d51b_0 conda-forge
font-ttf-dejavu-sans-mono 2.37 hab24e00_0 conda-forge
font-ttf-inconsolata 3.000 h77eed37_0 conda-forge
font-ttf-source-code-pro 2.038 h77eed37_0 conda-forge
font-ttf-ubuntu 0.83 h77eed37_1 conda-forge
fontconfig 2.14.2 hbde0cde_0 conda-forge
fonts-conda-ecosystem 1 0 conda-forge
fonts-conda-forge 1 0 conda-forge
freetype 2.12.1 hdaf720e_2 conda-forge
gettext 0.21.1 h5728263_0 conda-forge
glfw 3.3.9 hcfcfb64_0 conda-forge
gtest 1.14.0 h91493d7_1 conda-forge
idyntree 9.1.0 py311h42847bd_0 conda-forge
intel-openmp 2023.2.0 h57928b3_50497 conda-forge
ipopt 3.14.12 ha9547d1_1 conda-forge
irrlicht 1.8.5 h65f4d7e_4 conda-forge
krb5 1.21.2 heb0366b_0 conda-forge
libblas 3.9.0 20_win64_mkl conda-forge
libcblas 3.9.0 20_win64_mkl conda-forge
libcurl 8.5.0 hd5e4a3a_0 conda-forge
libexpat 2.5.0 h63175ca_1 conda-forge
libffi 3.4.2 h8ffe710_5 conda-forge
libflang 5.0.0 h6538335_20180525 conda-forge
libglib 2.78.3 h16e383f_0 conda-forge
libhwloc 2.9.1 nocuda_h15da153_6 conda-forge
libiconv 1.17 hcfcfb64_2 conda-forge
libjpeg-turbo 3.0.0 hcfcfb64_1 conda-forge
liblapack 3.9.0 20_win64_mkl conda-forge
liblie-group-controllers 0.2.0 h63175ca_0 conda-forge
libopus 1.3.1 h8ffe710_1 conda-forge
libosqp 0.6.2 h63175ca_4 conda-forge
libpng 1.6.39 h19919ed_0 conda-forge
libqdldl 0.1.5 h63175ca_1 conda-forge
libsqlite 3.44.2 hcfcfb64_0 conda-forge
libssh2 1.11.0 h7dfc565_0 conda-forge
libunicycle-footstep-planner 0.6.0 h63175ca_1 conda-forge
libuv 1.44.2 hcfcfb64_1 conda-forge
libxml2 2.12.4 hc3477c8_1 conda-forge
libzlib 1.2.13 hcfcfb64_5 conda-forge
llvm-meta 5.0.0 0 conda-forge
m2w64-gcc-libgfortran 5.3.0 6 conda-forge
m2w64-gcc-libs 5.3.0 7 conda-forge
m2w64-gcc-libs-core 5.3.0 7 conda-forge
m2w64-gmp 6.1.0 2 conda-forge
m2w64-libwinpthread-git 5.0.0.4634.697f757 2 conda-forge
make 4.3 h3d2af85_1 conda-forge
manif 0.0.4 h63175ca_16 conda-forge
metis 5.1.0 h63175ca_1007 conda-forge
mkl 2023.2.0 h6a75c08_50497 conda-forge
msys2-conda-epoch 20160418 1 conda-forge
mumps-seq 5.2.1 h1f49738_14 conda-forge
ninja 1.11.1 h91493d7_0 conda-forge
nlohmann_json 3.11.2 h39d44d4_0 conda-forge
numpy 1.26.3 py311h0b4df5a_0 conda-forge
openh264 2.3.1 h63175ca_2 conda-forge
openmp 5.0.0 vc14_1 conda-forge
openssl 3.2.0 hcfcfb64_1 conda-forge
osqp-eigen 0.8.0 h63175ca_0 conda-forge
pcre2 10.42 h17e33f8_0 conda-forge
pip 23.3.2 pyhd8ed1ab_0 conda-forge
pkg-config 0.29.2 h2bf4dc2_1008 conda-forge
proxsuite 0.3.7 py311h1ea47a8_0 conda-forge
pthreads-win32 2.9.1 hfa6e2cd_3 conda-forge
python 3.11.7 h2628c8c_1_cpython conda-forge
python_abi 3.11 4_cp311 conda-forge
scipy 1.11.4 py311h0b4df5a_0 conda-forge
sdl 1.2.68 h21dd15a_0 conda-forge
sdl2 2.28.5 h63175ca_0 conda-forge
setuptools 69.0.3 pyhd8ed1ab_0 conda-forge
simde 0.7.6 h91493d7_0 conda-forge
spdlog 1.12.0 h64d2f7d_2 conda-forge
svt-av1 1.7.0 h63175ca_0 conda-forge
tbb 2021.9.0 h91493d7_0 conda-forge
tinyxml2 9.0.0 h0e60522_2 conda-forge
tk 8.6.13 h5226925_1 conda-forge
tl-optional 1.1.0 h91493d7_1 conda-forge
tzdata 2023d h0c530f3_0 conda-forge
ucrt 10.0.22621.0 h57928b3_0 conda-forge
vc 14.3 hcf57466_18 conda-forge
vc14_runtime 14.38.33130 h82b7239_18 conda-forge
vs2015_runtime 14.38.33130 hcb4865c_18 conda-forge
vs2022_win-64 19.38.33130 h0bfb142_18 conda-forge
vswhere 3.1.4 h57928b3_0 conda-forge
wheel 0.42.0 pyhd8ed1ab_0 conda-forge
x264 1!164.3095 h8ffe710_2 conda-forge
x265 3.5 h2d74725_3 conda-forge
xz 5.2.6 h8d14728_0 conda-forge
zlib 1.2.13 hcfcfb64_5 conda-forge
zstd 1.5.5 h12be248_0 conda-forge
One that is successful:
# Workingyy
aom 3.5.0 h63175ca_0 conda-forge
assimp 5.2.5 h4dcb625_0 conda-forge
boost-cpp 1.78.0 h9f4b32c_4 conda-forge
bzip2 1.0.8 hcfcfb64_5 conda-forge
ca-certificates 2023.11.17 h56e8100_0 conda-forge
casadi 3.6.2 py311hd11293b_0 conda-forge
cmake 3.28.1 hf0feee3_0 conda-forge
dav1d 1.2.1 hcfcfb64_0 conda-forge
eigen 3.4.0 h91493d7_0 conda-forge
expat 2.5.0 h63175ca_1 conda-forge
ffmpeg 6.0.0 gpl_h1f67d4f_104 conda-forge
fmt 10.2.1 h181d51b_0 conda-forge
font-ttf-dejavu-sans-mono 2.37 hab24e00_0 conda-forge
font-ttf-inconsolata 3.000 h77eed37_0 conda-forge
font-ttf-source-code-pro 2.038 h77eed37_0 conda-forge
font-ttf-ubuntu 0.83 h77eed37_1 conda-forge
fontconfig 2.14.2 hbde0cde_0 conda-forge
fonts-conda-ecosystem 1 0 conda-forge
fonts-conda-forge 1 0 conda-forge
freetype 2.12.1 hdaf720e_2 conda-forge
gettext 0.21.1 h5728263_0 conda-forge
gtest 1.14.0 h91493d7_1 conda-forge
idyntree 8.1.0 py311he5a1352_1 conda-forge
intel-openmp 2023.2.0 h57928b3_50497 conda-forge
ipopt 3.14.11 ha9547d1_0 conda-forge
irrlicht 1.8.5 h65f4d7e_4 conda-forge
krb5 1.21.2 heb0366b_0 conda-forge
libblas 3.9.0 20_win64_mkl conda-forge
libcblas 3.9.0 20_win64_mkl conda-forge
libcurl 8.5.0 hd5e4a3a_0 conda-forge
libexpat 2.5.0 h63175ca_1 conda-forge
libffi 3.4.2 h8ffe710_5 conda-forge
libflang 5.0.0 h6538335_20180525 conda-forge
libglib 2.78.3 h16e383f_0 conda-forge
libhwloc 2.9.1 nocuda_h15da153_6 conda-forge
libiconv 1.17 hcfcfb64_2 conda-forge
libjpeg-turbo 3.0.0 hcfcfb64_1 conda-forge
liblapack 3.9.0 20_win64_mkl conda-forge
liblie-group-controllers 0.2.0 h63175ca_0 conda-forge
libopus 1.3.1 h8ffe710_1 conda-forge
libosqp 0.6.2 h63175ca_4 conda-forge
libpng 1.6.39 h19919ed_0 conda-forge
libqdldl 0.1.5 h63175ca_1 conda-forge
libsqlite 3.44.2 hcfcfb64_0 conda-forge
libssh2 1.11.0 h7dfc565_0 conda-forge
libunicycle-footstep-planner 0.6.0 h63175ca_0 conda-forge
libuv 1.44.2 hcfcfb64_1 conda-forge
libxml2 2.12.4 hc3477c8_1 conda-forge
libzlib 1.2.13 hcfcfb64_5 conda-forge
llvm-meta 5.0.0 0 conda-forge
m2w64-gcc-libgfortran 5.3.0 6 conda-forge
m2w64-gcc-libs 5.3.0 7 conda-forge
m2w64-gcc-libs-core 5.3.0 7 conda-forge
m2w64-gmp 6.1.0 2 conda-forge
m2w64-libwinpthread-git 5.0.0.4634.697f757 2 conda-forge
make 4.3 h3d2af85_1 conda-forge
manif 0.0.4 h63175ca_16 conda-forge
metis 5.1.0 h63175ca_1007 conda-forge
mkl 2023.2.0 h6a75c08_50497 conda-forge
msys2-conda-epoch 20160418 1 conda-forge
mumps-seq 5.2.1 h1f49738_14 conda-forge
ninja 1.11.1 h91493d7_0 conda-forge
nlohmann_json 3.11.2 h39d44d4_0 conda-forge
numpy 1.26.3 py311h0b4df5a_0 conda-forge
openh264 2.3.1 h63175ca_2 conda-forge
openmp 5.0.0 vc14_1 conda-forge
openssl 3.2.0 hcfcfb64_1 conda-forge
osqp-eigen 0.8.0 h63175ca_0 conda-forge
pcre2 10.42 h17e33f8_0 conda-forge
pip 23.3.2 pyhd8ed1ab_0 conda-forge
pkg-config 0.29.2 h2bf4dc2_1008 conda-forge
proxsuite 0.3.7 py311h1ea47a8_0 conda-forge
pthreads-win32 2.9.1 hfa6e2cd_3 conda-forge
python 3.11.7 h2628c8c_1_cpython conda-forge
python_abi 3.11 4_cp311 conda-forge
scipy 1.11.4 py311h0b4df5a_0 conda-forge
sdl 1.2.68 h21dd15a_0 conda-forge
sdl2 2.28.5 h63175ca_0 conda-forge
setuptools 69.0.3 pyhd8ed1ab_0 conda-forge
simde 0.7.6 h91493d7_0 conda-forge
spdlog 1.12.0 h64d2f7d_2 conda-forge
svt-av1 1.7.0 h63175ca_0 conda-forge
tbb 2021.9.0 h91493d7_0 conda-forge
tinyxml2 9.0.0 h0e60522_2 conda-forge
tk 8.6.13 h5226925_1 conda-forge
tl-optional 1.1.0 h91493d7_1 conda-forge
tzdata 2023d h0c530f3_0 conda-forge
ucrt 10.0.22621.0 h57928b3_0 conda-forge
vc 14.3 hcf57466_18 conda-forge
vc14_runtime 14.38.33130 h82b7239_18 conda-forge
vs2015_runtime 14.38.33130 hcb4865c_18 conda-forge
vs2022_win-64 19.38.33130 h0bfb142_18 conda-forge
vswhere 3.1.4 h57928b3_0 conda-forge
wheel 0.42.0 pyhd8ed1ab_0 conda-forge
x264 1!164.3095 h8ffe710_2 conda-forge
x265 3.5 h2d74725_3 conda-forge
xz 5.2.6 h8d14728_0 conda-forge
zlib 1.2.13 hcfcfb64_5 conda-forge
zstd 1.5.5 h12be248_0 conda-forge
Diff between the two:
--- <unnamed>
+++ <unnamed>
@@ -1,10 +1,10 @@
-# Not working
+# Workingyy
aom 3.5.0 h63175ca_0 conda-forge
assimp 5.2.5 h4dcb625_0 conda-forge
boost-cpp 1.78.0 h9f4b32c_4 conda-forge
bzip2 1.0.8 hcfcfb64_5 conda-forge
ca-certificates 2023.11.17 h56e8100_0 conda-forge
-casadi 3.6.2 py311h4ef4915_1 conda-forge
+casadi 3.6.2 py311hd11293b_0 conda-forge
cmake 3.28.1 hf0feee3_0 conda-forge
dav1d 1.2.1 hcfcfb64_0 conda-forge
eigen 3.4.0 h91493d7_0 conda-forge
@@ -20,11 +20,10 @@
fonts-conda-forge 1 0 conda-forge
freetype 2.12.1 hdaf720e_2 conda-forge
gettext 0.21.1 h5728263_0 conda-forge
-glfw 3.3.9 hcfcfb64_0 conda-forge
gtest 1.14.0 h91493d7_1 conda-forge
-idyntree 9.1.0 py311h42847bd_0 conda-forge
+idyntree 8.1.0 py311he5a1352_1 conda-forge
intel-openmp 2023.2.0 h57928b3_50497 conda-forge
-ipopt 3.14.12 ha9547d1_1 conda-forge
+ipopt 3.14.11 ha9547d1_0 conda-forge
irrlicht 1.8.5 h65f4d7e_4 conda-forge
krb5 1.21.2 heb0366b_0 conda-forge
libblas 3.9.0 20_win64_mkl conda-forge
@@ -45,7 +44,7 @@
libqdldl 0.1.5 h63175ca_1 conda-forge
libsqlite 3.44.2 hcfcfb64_0 conda-forge
libssh2 1.11.0 h7dfc565_0 conda-forge
-libunicycle-footstep-planner 0.6.0 h63175ca_1 conda-forge
+libunicycle-footstep-planner 0.6.0 h63175ca_0 conda-forge
libuv 1.44.2 hcfcfb64_1 conda-forge
libxml2 2.12.4 hc3477c8_1 conda-forge
libzlib 1.2.13 hcfcfb64_5 conda-forge
So, at this point, I was wondering if there is something in idyntree. Notice that the IK uses idyntree to compute jacobians and transforms. Ipopt and casadi are not linked to the IK (afak)
I also suspect some subtle ABI incompatibility doing something here, even if the perfectly repeatable error seems to indicate otherwise. There is a bunch of rebuilds being done due to new ipopt, new mumps, old metis, let's see what happens after all of that.
Ok, I created an env with the latest mumps and ipopt and idyntree, and it still fails:
mamba create -n blfmindev cmake pkg-config ninja make spdlog eigen idyntree liblie-group-controllermamba create -n blfmindev cmake pkg-config ninja make spdlog eigen idyntree liblie-group-controllers nlohmann_json osqp-eigen vs2022_wiQPInverseKinematicsUnitTestsn-64
mamba activate blfmindev
git clone https://github.com/ami-iit/bipedal-locomotion-framework
cd bipedal-locomotion-framework
cmake -GNinja -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DBUILD_TESTING:BOOL=ON ..
ninja
ctest -VV -R QPInverseKinematicsUnitTests
mamba list
output:
(blfmindev) C:\src\bipedal-locomotion-framework\buildnew>ctest -VV -R QPInverseKinematicsUnitTests
UpdateCTestConfiguration from :C:/src/bipedal-locomotion-framework/buildnew/DartConfiguration.tcl
Parse Config file:C:/src/bipedal-locomotion-framework/buildnew/DartConfiguration.tcl
UpdateCTestConfiguration from :C:/src/bipedal-locomotion-framework/buildnew/DartConfiguration.tcl
Parse Config file:C:/src/bipedal-locomotion-framework/buildnew/DartConfiguration.tcl
Test project C:/src/bipedal-locomotion-framework/buildnew
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 42
Start 42: QPInverseKinematicsUnitTests
42: Test command: C:\src\bipedal-locomotion-framework\buildnew\bin\QPInverseKinematicsUnitTests.exe
42: Working Directory: C:/src/bipedal-locomotion-framework/buildnew/src/IK/tests
42: Test timeout computed to be: 1500
42: [2024-01-21 15:04:19.203] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link19] Unable to find the mask parameter. The default value is used: true true true.
42: [2024-01-21 15:04:19.203] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link19] Unable to find the use_orientation_exogenous_feedback parameter. The default value is used: false.
42: [2024-01-21 15:04:19.203] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link19] Unable to find the use_position_exogenous_feedback parameter. The default value is used: false.
42: [2024-01-21 15:04:19.203] [thread: 1548] [blf] [info] [CoMTask::initialize] [CoMTask] Unable to find the mask parameter. The default value is used: true true true.
42: [2024-01-21 15:04:19.205] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link34] Unable to find the mask parameter. The default value is used: true true true.
42: [2024-01-21 15:04:19.205] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link34] Unable to find the use_orientation_exogenous_feedback parameter. The default value is used: false.
42: [2024-01-21 15:04:19.205] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link34] Unable to find the use_position_exogenous_feedback parameter. The default value is used: false.
42: [2024-01-21 15:04:19.205] [thread: 1548] [blf] [info] [CoMTask::initialize] [CoMTask] Unable to find the mask parameter. The default value is used: true true true.
42: [2024-01-21 15:04:19.207] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link29] Unable to find the mask parameter. The default value is used: true true true.
42: [2024-01-21 15:04:19.207] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link29] Unable to find the use_orientation_exogenous_feedback parameter. The default value is used: false.
42: [2024-01-21 15:04:19.207] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link29] Unable to find the use_position_exogenous_feedback parameter. The default value is used: false.
42: [2024-01-21 15:04:19.207] [thread: 1548] [blf] [info] [CoMTask::initialize] [CoMTask] Unable to find the mask parameter. The default value is used: true true true.
42: [2024-01-21 15:04:19.209] [thread: 1548] [blf] [info] [QPInverseKinematics::initialize] 'verbosity' not found. The following parameter will be used 'false'.
42: [2024-01-21 15:04:19.209] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link29] Unable to find the mask parameter. The default value is used: true true true.
42: [2024-01-21 15:04:19.209] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link29] Unable to find the use_orientation_exogenous_feedback parameter. The default value is used: false.
42: [2024-01-21 15:04:19.209] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link29] Unable to find the use_position_exogenous_feedback parameter. The default value is used: false.
42: [2024-01-21 15:04:19.209] [thread: 1548] [blf] [info] [CoMTask::initialize] [CoMTask] Unable to find the mask parameter. The default value is used: true true true.
42: [2024-01-21 15:04:19.209] [thread: 1548] [blf] [warning] [QPInverseKinematics::build] Unable to get the parameter 'weight_provider_type' for the task in the group 'REGULARIZATION_TASK'. The default one will be used. Default: 'ConstantWeightProvider'.
42: [2024-01-21 15:04:19.209] [thread: 1548] [blf] [warning] [QPInverseKinematics::build] Unable to get the parameter 'weight_provider_type' for the task in the group 'DISTANCE_TASK'. The default one will be used. Default: 'ConstantWeightProvider'.
42: [2024-01-21 15:04:19.209] [thread: 1548] [blf] [warning] [QPInverseKinematics::build] Unable to get the parameter 'weight_provider_type' for the task in the group 'GRAVITY_TASK'. The default one will be used. Default: 'ConstantWeightProvider'.
42: [2024-01-21 15:04:19.211] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link29] Unable to find the mask parameter. The default value is used: true true true.
42: [2024-01-21 15:04:19.211] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link29] Unable to find the use_orientation_exogenous_feedback parameter. The default value is used: false.
42: [2024-01-21 15:04:19.211] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link29] Unable to find the use_position_exogenous_feedback parameter. The default value is used: false.
42: [2024-01-21 15:04:19.211] [thread: 1548] [blf] [info] [CoMTask::initialize] [CoMTask] Unable to find the mask parameter. The default value is used: true true true.
42: [2024-01-21 15:04:19.212] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link29] Unable to find the mask parameter. The default value is used: true true true.
42: [2024-01-21 15:04:19.212] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link29] Unable to find the use_orientation_exogenous_feedback parameter. The default value is used: false.
42: [2024-01-21 15:04:19.212] [thread: 1548] [blf] [info] [SE3Task::initialize] [IK-SE3Task - Frame name: link29] Unable to find the use_position_exogenous_feedback parameter. The default value is used: false.
42: [2024-01-21 15:04:19.212] [thread: 1548] [blf] [info] [CoMTask::initialize] [CoMTask] Unable to find the mask parameter. The default value is used: true true true.
42: Randomness seeded to: 3427944327
42:
42: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
42: QPInverseKinematicsUnitTests.exe is a Catch2 v3.0.1 host application.
42: Run with -? for options
42:
42: -------------------------------------------------------------------------------
42: QP-IK [Distance and Gravity tasks Unconstrained]
42: -------------------------------------------------------------------------------
42: C:\src\bipedal-locomotion-framework\src\IK\tests\QPInverseKinematicsTest.cpp(858)
42: ...............................................................................
42:
42: C:\src\bipedal-locomotion-framework\src\IK\tests\QPInverseKinematicsTest.cpp(979): FAILED:
42: REQUIRE( toManifPose(kinDyn->getWorldTransform(desiredSetPoints.targetFrameDistance)) .translation() .norm() == Catch::Approx(desiredSetPoints.targetDistance).epsilon(tolerance) )
42: with expansion:
42: 76.8941567337 == Approx( 1.3854129089 )
42:
42: ===============================================================================
42: test cases: 5 | 4 passed | 1 failed
42: assertions: 661 | 660 passed | 1 failed
42:
1/1 Test #42: QPInverseKinematicsUnitTests .....***Failed 0.04 sec
0% tests passed, 1 tests failed out of 1
Total Test time (real) = 0.06 sec
The following tests FAILED:
42 - QPInverseKinematicsUnitTests (Failed)
Errors while running CTest
Output from these tests are in: C:/src/bipedal-locomotion-framework/buildnew/Testing/Temporary/LastTest.log
Use "--rerun-failed --output-on-failure" to re-run the failed cases verbosely.
(blfmindev) C:\src\bipedal-locomotion-framework\buildnew>mamba list
# packages in environment at C:\Users\straversaro\AppData\Local\miniforge3\envs\blfmindev:
#
# Name Version Build Channel
assimp 5.3.1 h81f0834_2 conda-forge
bzip2 1.0.8 hcfcfb64_5 conda-forge
ca-certificates 2023.11.17 h56e8100_0 conda-forge
cmake 3.28.1 hf0feee3_0 conda-forge
eigen 3.4.0 h91493d7_0 conda-forge
fmt 10.2.1 h181d51b_0 conda-forge
gettext 0.21.1 h5728263_0 conda-forge
glfw 3.3.9 hcfcfb64_0 conda-forge
gtest 1.14.0 h91493d7_1 conda-forge
idyntree 10.2.0 py312hbe92c17_2 conda-forge
intel-openmp 2023.2.0 h57928b3_50497 conda-forge
ipopt 3.14.14 h1709daf_1 conda-forge
irrlicht 1.8.5 h65f4d7e_4 conda-forge
krb5 1.21.2 heb0366b_0 conda-forge
libblas 3.9.0 20_win64_mkl conda-forge
libboost 1.82.0 h65993cd_6 conda-forge
libcblas 3.9.0 20_win64_mkl conda-forge
libcurl 8.5.0 hd5e4a3a_0 conda-forge
libexpat 2.5.0 h63175ca_1 conda-forge
libffi 3.4.2 h8ffe710_5 conda-forge
libflang 5.0.0 h6538335_20180525 conda-forge
libglib 2.78.3 h16e383f_0 conda-forge
libhwloc 2.9.3 default_haede6df_1009 conda-forge
libiconv 1.17 hcfcfb64_2 conda-forge
libjpeg-turbo 3.0.0 hcfcfb64_1 conda-forge
liblapack 3.9.0 20_win64_mkl conda-forge
liblie-group-controllers 0.2.0 h63175ca_0 conda-forge
libosqp 0.6.3 h63175ca_0 conda-forge
libpng 1.6.39 h19919ed_0 conda-forge
libqdldl 0.1.5 h63175ca_1 conda-forge
libsqlite 3.44.2 hcfcfb64_0 conda-forge
libssh2 1.11.0 h7dfc565_0 conda-forge
libuv 1.44.2 hcfcfb64_1 conda-forge
libxml2 2.12.4 hc3477c8_1 conda-forge
libzlib 1.2.13 hcfcfb64_5 conda-forge
llvm-meta 5.0.0 0 conda-forge
m2w64-gcc-libgfortran 5.3.0 6 conda-forge
m2w64-gcc-libs 5.3.0 7 conda-forge
m2w64-gcc-libs-core 5.3.0 7 conda-forge
m2w64-gmp 6.1.0 2 conda-forge
m2w64-libwinpthread-git 5.0.0.4634.697f757 2 conda-forge
make 4.3 h3d2af85_1 conda-forge
manif 0.0.4 h63175ca_16 conda-forge
metis 5.1.0 h63175ca_1007 conda-forge
mkl 2023.2.0 h6a75c08_50497 conda-forge
msys2-conda-epoch 20160418 1 conda-forge
mumps-seq 5.6.2 h1f49738_3 conda-forge
ninja 1.11.1 h91493d7_0 conda-forge
nlohmann_json 3.11.2 h39d44d4_0 conda-forge
numpy 1.26.3 py312h8753938_0 conda-forge
openmp 5.0.0 vc14_1 conda-forge
openssl 3.2.0 hcfcfb64_1 conda-forge
osqp-eigen 0.8.1 h6d7489e_0 conda-forge
pcre2 10.42 h17e33f8_0 conda-forge
pip 23.3.2 pyhd8ed1ab_0 conda-forge
pkg-config 0.29.2 h2bf4dc2_1008 conda-forge
pthreads-win32 2.9.1 hfa6e2cd_3 conda-forge
python 3.12.1 h2628c8c_1_cpython conda-forge
python_abi 3.12 4_cp312 conda-forge
sdl 1.2.68 h21dd15a_0 conda-forge
sdl2 2.28.5 h63175ca_0 conda-forge
setuptools 69.0.3 pyhd8ed1ab_0 conda-forge
spdlog 1.12.0 h64d2f7d_2 conda-forge
tbb 2021.11.0 h91493d7_0 conda-forge
tk 8.6.13 h5226925_1 conda-forge
tl-optional 1.1.0 h91493d7_1 conda-forge
tzdata 2023d h0c530f3_0 conda-forge
ucrt 10.0.22621.0 h57928b3_0 conda-forge
vc 14.3 hcf57466_18 conda-forge
vc14_runtime 14.38.33130 h82b7239_18 conda-forge
vs2015_runtime 14.38.33130 hcb4865c_18 conda-forge
vs2022_win-64 19.38.33130 h0bfb142_18 conda-forge
vswhere 3.1.4 h57928b3_0 conda-forge
wheel 0.42.0 pyhd8ed1ab_0 conda-forge
xz 5.2.6 h8d14728_0 conda-forge
zlib 1.2.13 hcfcfb64_5 conda-forge
zstd 1.5.5 h12be248_0 conda-forge
I wonder if this failure is related to the change in iDynTree::getRandomModel, that started to export also prismatic joints, see robotology/idyntree#1057 and robotology/idyntree@9c7f2b3
I wonder if this failure is related to the change in
iDynTree::getRandomModel, that started to export also prismatic joints, see robotology/idyntree#1057 and robotology/idyntree@9c7f2b3
Ok, indeed running that test just on a model with revolute joints solve the problem (I got the int by the fact that in robotology/idyntree#1057 we also run the IK tests in iDynTree for revolute joints). I guess the problem is indeed in some kind of bug with Jacobian on models with prismatic joints, that have been in iDynTree since prismatic joints were added, but was hidden by the fact that prismatic joints were not actually tested in getRandomModel and in KinDynComputations tests. As the problem is actually in iDynTree, I think it make sense just to test revolute joints in BLF. I guess there is nothing specifically Windows-related in the error, we were just kind of "lucky" to get this on Windows. I guess that if we run multiple times getRandomModel on Linux, we probably would eventually reach this problem as well.
(unrelated, diff for debug, posting it not to lose it):
@@ -967,6 +1003,12 @@ TEST_CASE("QP-IK [Distance and Gravity tasks Unconstrained]")
baseVelocity = ik->getOutput().baseVelocity.coeffs();
jointVelocity = ik->getOutput().jointVelocity;
+ std::cerr << "--- iteration: " << iteration << std::endl;
+ std::cerr << "--- baseVelocity:\n" << baseVelocity << std::endl;
+ std::cerr << "--- jointVelocity:\n" << jointVelocity << std::endl;
+ std::cerr << "--- world_H_target current translation norm: " << toManifPose(kinDyn->getWorldTransform(desiredSetPoints.targetFrameDistance)).translation().norm() << std::endl;
+ std::cerr << "--- world_H_target desired translation norm: " << desiredSetPoints.targetDistance << std::endl;
+
// propagate the dynamical system
system.dynamics->setControlInput({baseVelocity, jointVelocity});
system.integrator->integrate(0s, dT);#800 should provide a workaround for the problem in blf, the actual issue will be tracked in robotology/idyntree#1149 .
Fixed by #800!