Test case to check if velocity limits are applied to joints

[adityapande-1995]

Signed-off-by: Aditya [email protected]
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Summary

This PR adds a test case to check if velocity limits are applied to joints. Currently, this doesn't work on DART 6.9.5, and only works for DART 6.10 : dartsim/dart#1407, and hence has been disabled for now.

Test it

The test case includes a double pendulum that swings freely starting from rest, and the joint velocities must be constrained by the provided <limit> tag.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

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[adityapande-1995]

I tried testing the feature to add velocity limits as a constraint using release-6.9 and release-6.10 branches of upstream DART : adityapande-1995/dart@b5fc183, adityapande-1995/dart@29b8ae0 and it only works on 6.10.

I think it is due to this particular PR that was not backported : dartsim/dart#1407.

I suspect this feature will work if/when we link ign-physics to DART 6.10, hence disabled this test case for now.

[codecov]

Codecov Report

Merging #1445 (7bdc57c) into ign-gazebo6 (d57d9de) will not change coverage.
The diff coverage is n/a.

❗ Current head 7bdc57c differs from pull request most recent head 5d56b19. Consider uploading reports for the commit 5d56b19 to get more accurate results

@@             Coverage Diff              @@
##           ign-gazebo6    #1445   +/-   ##
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  Coverage        33.58%   33.58%           
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  Files               44       44           
  Lines             2260     2260           
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  Hits               759      759           
  Misses            1501     1501           

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[scpeters]

do you mind fixing the compiler warning introduced by #1416? just add override to the end of PerfectComm.hh:56?

[adityapande-1995]

Just confirmed the above theory, linking against dart 6.10 enables the <limit><velocity> feature. Tested locally.
The models below have velocity limits of 10 and 1 respectively.

[adityapande-1995]

The failing tests in 55 - UNIT_Gui_TEST (SEGFAULT) and 153 - INTEGRATION_odometry_publisher (Failed) are unrelated to this PR

[jennuine]

LGTM, left some minor comments

[scpeters]

I had assumed that these tests would run on macOS because it has dartsim 6.12.1, but I found a bug in our cmake logic for finding DART for purposes of testing. I have proposed a fix in #1469

[scpeters]

I had assumed that these tests would run on macOS because it has dartsim 6.12.1, but I found a bug in our cmake logic for finding DART for purposes of testing. I have proposed a fix in #1469

#1469 has been merged, and it shows the new test is failing

• https://build.osrfoundation.org/job/ignition_gazebo-ci-pr_any-homebrew-amd64/8163/testReport/junit/(root)/PhysicsSystemFixtureWithDart6_10/JointVelocityLimitTest/

I added an extra 1e-6 tolerance to the velocity expectation in 7bdc57c, which should allow it pass

[adityapande-1995]

The test has passed here : https://build.osrfoundation.org/job/ignition_gazebo-ci-pr_any-homebrew-amd64/8165/testReport/(root)/PhysicsSystemFixtureWithDart6_10/

The failures in 55 - UNIT_Gui_TEST (SEGFAULT), 175 - INTEGRATION_scene_broadcaster_system (Failed) are flaky and unrelated to this PR.

[scpeters]

The test has passed here : https://build.osrfoundation.org/job/ignition_gazebo-ci-pr_any-homebrew-amd64/8165/testReport/(root)/PhysicsSystemFixtureWithDart6_10/

The failures in 55 - UNIT_Gui_TEST (SEGFAULT), 175 - INTEGRATION_scene_broadcaster_system (Failed) are flaky and unrelated to this PR.

I reran the build, and it has only one failing test now, and the test added in this PR passed:

• https://build.osrfoundation.org/job/ignition_gazebo-ci-pr_any-homebrew-amd64/8165/testReport/(root)/PhysicsSystemFixtureWithDart6_10/