Set slip compliance #56

JShep1 · 2020-05-13T00:35:02Z

Required for the wheel slip plugin

…rtsim, so slip compliance can be adjusted dynamically (needed by WheelSlipPlugin)

…l be easier to test the Set functions

codecov · 2020-05-13T03:18:18Z

Codecov Report

Merging #56 into ign-physics1 will decrease coverage by 0.27%.
The diff coverage is 40.90%.

@@               Coverage Diff                @@
##           ign-physics1      #56      +/-   ##
================================================
- Coverage         83.21%   82.93%   -0.28%     
================================================
  Files                75       75              
  Lines              2436     2484      +48     
================================================
+ Hits               2027     2060      +33     
- Misses              409      424      +15

Impacted Files	Coverage Δ
dartsim/src/SDFFeatures.cc	`71.84% <ø> (+1.29%)`	⬆️
dartsim/src/ShapeFeatures.cc	`36.42% <31.57%> (-1.63%)`	⬇️
include/ignition/physics/detail/Shape.hh	`100.00% <100.00%> (ø)`
include/ignition/physics/detail/GetEntities.hh	`100.00% <0.00%> (ø)`
dartsim/src/EntityManagementFeatures.cc	`67.03% <0.00%> (+3.84%)`	⬆️

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…rtsim, so slip compliance can be adjusted dynamically (needed by WheelSlipPlugin)

…l be easier to test the Set functions

…tics/ign-physics into set_slip_compliance Signed-off-by: John Shepherd <john@openrobotics.org>

azeey

Looks good! I made some minor comments. Since calls to setSlipCompliance and setSecondarySlipCompliance are not implemented in the official version of DART yet, we should probably add guards like we did in here to the implementation of the slip compliance features in the dartsim plugin.

dartsim/src/ShapeFeatures.hh

include/ignition/physics/detail/Shape.hh

scpeters · 2020-06-30T22:57:35Z

@osrf-jenkins run tests please

scpeters · 2020-07-06T19:11:30Z

@osrf-jenkins run tests please

scpeters · 2020-07-07T00:01:20Z

@osrf-jenkins run tests please

Signed-off-by: John Shepherd <john@openrobotics.org>

…tics/ign-physics into set_slip_compliance Signed-off-by: John Shepherd <john@openrobotics.org>

Signed-off-by: John Shepherd <john@openrobotics.org>

azeey · 2020-08-18T21:44:53Z

@scpeters pointed me to another relevant test in Gazebo11 that would be nice to add here https://github.com/osrf/gazebo/blob/a9f093f2fc7fa7fc49efa73719f6536ad28f8af7/test/integration/physics_friction.cc#L529. The motion of the objects seem different from Gazebo-classic, so I'm investigating why. I think there is a bug in DART when the center of mass is offset from the origin of a link.

azeey

LGTM!

dartsim/src/ShapeFeatures.cc

JShep1 · 2020-08-29T22:36:24Z

The wheel slip changes were merged into upstream dart, we will need new debs for CI. All tests both on physics and gazebo are passing for me locally. I'm holding off on merging these two PRs until we can get CI green.

nkoenig · 2020-09-16T15:42:13Z

DART has been released. I think this PR is next in line.

nkoenig · 2020-09-16T15:43:22Z

@osrf-jenkins run tests please

azeey · 2020-09-16T15:44:04Z

I was waiting on osrf/homebrew-simulation#1130

azeey · 2020-09-16T20:42:32Z

@osrf-jenkins run tests please

azeey · 2020-09-16T20:47:41Z

@JShep1 Can you rerun github action CI? Seems like I don't have permission to do it.

nkoenig · 2020-09-16T21:41:29Z

@JShep1 Can you rerun github action CI? Seems like I don't have permission to do it.

I don't understand why there is no button to re-run jobs. I think we all should have the same permissions.

JShep1 · 2020-09-16T21:44:48Z

@JShep1 Can you rerun github action CI? Seems like I don't have permission to do it.

Seems like they were triggered by your comment @azeey , they show as being started an hour ago when you made the comment, perhaps it took a little bit to trigger them?

azeey · 2020-09-16T22:02:57Z

Seems like they were triggered by your comment @azeey , they show as being started an hour ago when you made the comment, perhaps it took a little bit to trigger them?

I meant just the Github Actions CI. My comment restarted the Jenkins CI, but not the Github Actions CI.

I also tried using the REST API to rerun it and it responded with "Unable to re-run this workflow run because it was created over a month ago". I think our best bet is to push an empty commit, but that will probably restart jenkins as well :(

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

nkoenig · 2020-09-16T22:08:05Z

I also tried using the REST API to rerun it and it responded with "Unable to re-run this workflow run because it was created over a month ago". I think our best bet is to push an empty commit, but that will probably restart jenkins as well :(

And now the button on the github actions is there. So, an old PR can loose CI buttons. Interesting.

chapulina · 2020-09-16T23:46:27Z

👮‍♀️

There are a couple of old commits from @scpeters that aren't signed. I think it's fine to manually accept DCO for the PR, but please whoever squash-merges this PR, be sure to add his signature so we don't have issues merging this PR forward to other branches.

➡️ Signed-off-by: Steve Peters <scpeters@openrobotics.org>

And always remember not to remove other signatures.

nkoenig · 2020-09-17T01:06:27Z

The Ubuntu CI keeps failing. The logs show:

2020-09-16T23:34:51.5187965Z ##[error]The operation was canceled.

during compilation. I'll try again.

nkoenig · 2020-09-17T01:30:25Z

The Ubuntu CI keeps failing. The logs show:
2020-09-16T23:34:51.5187965Z ##[error]The operation was canceled.
during compilation. I'll try again.

This has happened three times. Unless anyone has ideas, I'll merge this sometime tonight.

azeey · 2020-09-17T02:03:51Z

It could be timing out. ign-physics1 takes a really long time to compile on Ubuntu with tests enabled.

nkoenig · 2020-09-17T03:27:09Z

It could be timing out. ign-physics1 takes a really long time to compile on Ubuntu with tests enabled.

It errors out at around 15-16 minutes. I'll try to muck with actions.

chapulina · 2020-09-17T03:59:21Z

wow the actions CI usually runs for close to 3 hours for ign-physics1 😨

https://github.com/ignitionrobotics/ign-physics/actions?query=workflow%3A%22Ubuntu+CI%22+branch%3Aign-physics1

It's been over 2h 55min and it's still running for this branch

nkoenig · 2020-09-17T04:09:20Z

wow, it finished. I guess I was too impatient.

nkoenig · 2020-09-17T04:17:47Z

Okay. I think everything is fine. I'm merging.

chapulina · 2020-10-14T18:26:46Z

Please remember to squash-merge feature PRs. The commits from this PR are now interleaved with the rest of the commits in the release branches are are difficult to identify.

We don't completely lose the separate commits when squash-merging. The squashed commit has a link to the PR and the PR page displays all the individual commits.

scpeters added 2 commits August 1, 2019 16:10

Add SetShapeFrictionPyramidSlipCompliance feature and implement in da…

0c5ad17

…rtsim, so slip compliance can be adjusted dynamically (needed by WheelSlipPlugin)

Add GetShapeFrictionPyramidSlipCompliance feature to match, so it wil…

a936c9c

…l be easier to test the Set functions

JShep1 requested a review from mxgrey as a code owner May 13, 2020 00:35

Merge branch 'ign-physics1' into set_slip_compliance

fdb8e8d

github-actions bot added the 📜 blueprint Ignition Blueprint label May 13, 2020

JShep1 added the enhancement New feature or request label May 13, 2020

JShep1 marked this pull request as draft May 13, 2020 00:48

JShep1 marked this pull request as ready for review May 26, 2020 23:03

JShep1 requested a review from azeey May 26, 2020 23:03

scpeters and others added 3 commits May 26, 2020 16:47

Add SetShapeFrictionPyramidSlipCompliance feature and implement in da…

2a91ec6

…rtsim, so slip compliance can be adjusted dynamically (needed by WheelSlipPlugin)

Add GetShapeFrictionPyramidSlipCompliance feature to match, so it wil…

b8e35f5

…l be easier to test the Set functions

Merge branch 'set_slip_compliance' of https://github.com/ignitionrobo…

9bf469a

…tics/ign-physics into set_slip_compliance Signed-off-by: John Shepherd <john@openrobotics.org>

chapulina mentioned this pull request May 28, 2020

Wheel slip system gazebosim/gz-sim#134

Merged

azeey requested changes Jun 8, 2020

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dartsim/src/ShapeFeatures.hh Show resolved Hide resolved

include/ignition/physics/detail/Shape.hh Outdated Show resolved Hide resolved

include/ignition/physics/detail/Shape.hh Outdated Show resolved Hide resolved

scpeters mentioned this pull request Jun 30, 2020

Integrate ABI jobs in Github gazebo-tooling/release-tools#230

Merged

scpeters mentioned this pull request Jul 7, 2020

Fix ABI jobs integration on ignition CI gazebo-tooling/release-tools#235

Merged

John Shepherd added 2 commits July 15, 2020 17:06

requested fixes

2d51984

Signed-off-by: John Shepherd <john@openrobotics.org>

Merge branch 'ign-physics1' into set_slip_compliance

ade6521

JShep1 requested a review from azeey July 16, 2020 00:43

John added 3 commits July 15, 2020 17:44

Merge branch 'ign-physics1' into set_slip_compliance

42be93d

Signed-off-by: John Shepherd <john@openrobotics.org>

Merge branch 'set_slip_compliance' of https://github.com/ignitionrobo…

5cf18ea

…tics/ign-physics into set_slip_compliance Signed-off-by: John Shepherd <john@openrobotics.org>

add dart guards for slip compliance

a9d172c

Signed-off-by: John Shepherd <john@openrobotics.org>

chapulina assigned JShep1 Aug 3, 2020

azeey approved these changes Aug 21, 2020

View reviewed changes

dartsim/src/ShapeFeatures.cc Show resolved Hide resolved

azeey mentioned this pull request Aug 22, 2020

Add wheel slip plugin to vehicles osrf/subt#569

Merged

4 tasks

nkoenig approved these changes Aug 27, 2020

View reviewed changes

trigger GitHub actions

827f80d

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

nkoenig mentioned this pull request Sep 17, 2020

Preparing for 1.9.0 release #101

Merged

nkoenig merged commit ba79fa7 into ign-physics1 Sep 17, 2020

nkoenig deleted the set_slip_compliance branch September 17, 2020 04:18

chapulina mentioned this pull request Sep 21, 2020

1 ➡️ 2 #102

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Set slip compliance #56

Set slip compliance #56

JShep1 commented May 13, 2020

codecov bot commented May 13, 2020 •

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JShep1 commented Aug 29, 2020

nkoenig commented Sep 16, 2020

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nkoenig commented Sep 16, 2020

JShep1 commented Sep 16, 2020

azeey commented Sep 16, 2020

nkoenig commented Sep 16, 2020

chapulina commented Sep 16, 2020

nkoenig commented Sep 17, 2020

nkoenig commented Sep 17, 2020

azeey commented Sep 17, 2020

nkoenig commented Sep 17, 2020

chapulina commented Sep 17, 2020

nkoenig commented Sep 17, 2020

nkoenig commented Sep 17, 2020

chapulina commented Oct 14, 2020

Set slip compliance #56

Set slip compliance #56

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JShep1 commented May 13, 2020

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