Skip to content

Commit e489f65

Browse files
stephane-caronStéphane Caron
stephane-caron
authored and
Stéphane Caron
committed
WIP: Check talos malloc issue with pinocchio 2.6.4 on CI
This is puzzling as this description loads fine with pin-2.6.4 on my machine.
1 parent 9bcb0ba commit e489f65

File tree

3 files changed

+63
-56
lines changed

3 files changed

+63
-56
lines changed

‎robot_descriptions/_descriptions.py‎

Lines changed: 51 additions & 51 deletions
Original file line numberDiff line numberDiff line change
@@ -71,56 +71,56 @@ def has_urdf(self) -> bool:
7171

7272

7373
DESCRIPTIONS: Dict[str, Description] = {
74-
"a1_description": Description(Format.URDF),
75-
"a1_mj_description": Description(Format.MJCF),
76-
"aliengo_description": Description(Format.MJCF),
77-
"allegro_hand_description": Description(Format.URDF),
78-
"anymal_b_description": Description(Format.URDF),
79-
"anymal_b_mj_description": Description(Format.MJCF),
80-
"anymal_c_description": Description(Format.URDF),
81-
"anymal_c_mj_description": Description(Format.MJCF),
82-
"atlas_drc_description": Description(Format.URDF),
83-
"atlas_v4_description": Description(Format.URDF),
84-
"baxter_description": Description(Format.URDF),
85-
"bolt_description": Description(Format.URDF),
86-
"cassie_description": Description(Format.URDF),
87-
"cassie_mj_description": Description(Format.MJCF),
88-
"cf2_description": Description(Format.URDF),
89-
"double_pendulum_description": Description(Format.URDF),
90-
"edo_description": Description(Format.URDF),
91-
"fetch_description": Description(Format.URDF),
92-
"finger_edu_description": Description(Format.URDF),
93-
"gen2_description": Description(Format.URDF),
94-
"ginger_description": Description(Format.URDF),
95-
"go1_description": Description(Format.URDF),
96-
"go1_mj_description": Description(Format.MJCF),
97-
"hyq_description": Description(Format.URDF),
98-
"icub_description": Description(Format.URDF),
99-
"iiwa_description": Description(Format.URDF),
100-
"jvrc_description": Description(Format.URDF),
101-
"jvrc_mj_description": Description(Format.MJCF),
102-
"laikago_description": Description(Format.URDF),
103-
"mini_cheetah_description": Description(Format.URDF),
104-
"minitaur_description": Description(Format.URDF),
105-
"panda_description": Description(Format.URDF),
106-
"panda_mj_description": Description(Format.MJCF),
107-
"pepper_description": Description(Format.URDF),
108-
"poppy_ergo_jr_description": Description(Format.URDF),
109-
"poppy_torso_description": Description(Format.URDF),
110-
"pr2_description": Description(Format.URDF),
111-
"reachy_description": Description(Format.URDF),
112-
"robotiq_2f85_description": Description(Format.URDF),
113-
"robotiq_2f85_mj_description": Description(Format.MJCF),
114-
"romeo_description": Description(Format.URDF),
115-
"shadow_hand_mj_description": Description(Format.MJCF),
116-
"simple_humanoid_description": Description(Format.URDF),
117-
"solo_description": Description(Format.URDF),
74+
# "a1_description": Description(Format.URDF),
75+
# "a1_mj_description": Description(Format.MJCF),
76+
# "aliengo_description": Description(Format.MJCF),
77+
# "allegro_hand_description": Description(Format.URDF),
78+
# "anymal_b_description": Description(Format.URDF),
79+
# "anymal_b_mj_description": Description(Format.MJCF),
80+
# "anymal_c_description": Description(Format.URDF),
81+
# "anymal_c_mj_description": Description(Format.MJCF),
82+
# "atlas_drc_description": Description(Format.URDF),
83+
# "atlas_v4_description": Description(Format.URDF),
84+
# "baxter_description": Description(Format.URDF),
85+
# "bolt_description": Description(Format.URDF),
86+
# "cassie_description": Description(Format.URDF),
87+
# "cassie_mj_description": Description(Format.MJCF),
88+
# "cf2_description": Description(Format.URDF),
89+
# "double_pendulum_description": Description(Format.URDF),
90+
# "edo_description": Description(Format.URDF),
91+
# "fetch_description": Description(Format.URDF),
92+
# "finger_edu_description": Description(Format.URDF),
93+
# "gen2_description": Description(Format.URDF),
94+
# "ginger_description": Description(Format.URDF),
95+
# "go1_description": Description(Format.URDF),
96+
# "go1_mj_description": Description(Format.MJCF),
97+
# "hyq_description": Description(Format.URDF),
98+
# "icub_description": Description(Format.URDF),
99+
# "iiwa_description": Description(Format.URDF),
100+
# "jvrc_description": Description(Format.URDF),
101+
# "jvrc_mj_description": Description(Format.MJCF),
102+
# "laikago_description": Description(Format.URDF),
103+
# "mini_cheetah_description": Description(Format.URDF),
104+
# "minitaur_description": Description(Format.URDF),
105+
# "panda_description": Description(Format.URDF),
106+
# "panda_mj_description": Description(Format.MJCF),
107+
# "pepper_description": Description(Format.URDF),
108+
# "poppy_ergo_jr_description": Description(Format.URDF),
109+
# "poppy_torso_description": Description(Format.URDF),
110+
# "pr2_description": Description(Format.URDF),
111+
# "reachy_description": Description(Format.URDF),
112+
# "robotiq_2f85_description": Description(Format.URDF),
113+
# "robotiq_2f85_mj_description": Description(Format.MJCF),
114+
# "romeo_description": Description(Format.URDF),
115+
# "shadow_hand_mj_description": Description(Format.MJCF),
116+
# "simple_humanoid_description": Description(Format.URDF),
117+
# "solo_description": Description(Format.URDF),
118118
"talos_description": Description(Format.URDF),
119-
"tiago_description": Description(Format.URDF),
120-
"upkie_description": Description(Format.URDF),
121-
"ur10_description": Description(Format.URDF),
122-
"ur3_description": Description(Format.URDF),
123-
"ur5_description": Description(Format.URDF),
124-
"ur5e_mj_description": Description(Format.MJCF),
125-
"yumi_description": Description(Format.URDF),
119+
# "tiago_description": Description(Format.URDF),
120+
# "upkie_description": Description(Format.URDF),
121+
# "ur10_description": Description(Format.URDF),
122+
# "ur3_description": Description(Format.URDF),
123+
# "ur5_description": Description(Format.URDF),
124+
# "ur5e_mj_description": Description(Format.MJCF),
125+
# "yumi_description": Description(Format.URDF),
126126
}

‎robot_descriptions/loaders/pinocchio.py‎

Lines changed: 0 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -19,7 +19,6 @@
1919
Load a robot description in Pinocchio.
2020
"""
2121

22-
import logging
2322
import os.path
2423
from importlib import import_module # type: ignore
2524
from typing import Union
@@ -66,10 +65,6 @@ def load_robot_description(
6665
os.path.dirname(module.URDF_PATH), # e.g. laikago_description
6766
]
6867

69-
logging.debug("\nCI CHECK")
70-
logging.debug("module=%s" % str(module))
71-
logging.debug("package_dirs=%s" % str(package_dirs))
72-
7368
robot = pin.RobotWrapper.BuildFromURDF(
7469
filename=module.URDF_PATH,
7570
package_dirs=package_dirs,

‎tests/test_pinocchio.py‎

Lines changed: 12 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -66,6 +66,12 @@ def test(self):
6666
VALUE_ERROR_ISSUE = {
6767
"anymal_b_description",
6868
"bolt_description",
69+
"finger_edu_description",
70+
"solo_description",
71+
}
72+
73+
MALLOC_ISSUE = {
74+
"talos_description",
6975
}
7076

7177
for name, description in DESCRIPTIONS.items():
@@ -76,6 +82,12 @@ def test(self):
7682
continue
7783
if name in VALUE_ERROR_ISSUE:
7884
# ValueError: Argument geometry_model should be a GeometryModel
85+
# This issue seems to be fixed in shortcuts.py of pin-2.6.9
86+
# TODO(scaron): I'm not sure why these descriptions fail to load in the
87+
# CI while they load fine on my machine locally (py38, pin-2.6.4)
88+
continue
89+
if name in MALLOC_ISSUE:
90+
# malloc(): invalid size (unsorted)
7991
# TODO(scaron): I'm not sure why these descriptions fail to load in the
8092
# CI while they load fine on my machine locally (py38, pin-2.6.4)
8193
continue

0 commit comments

Comments
 (0)