PhysicsEngines/FactoryTest.Clone/1 failing on gazebo8 and default

[osrf-migration]

Original report (archived issue) by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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In INTEGRATION_factory, the Clone subtest for bullet has been failing on gazebo8 and default since pull request #2773 and pull request #2774 were merged.

• https://build.osrfoundation.org/job/gazebo-ci-gazebo8-xenial-amd64-gpu-nvidia/lastCompletedBuild/testReport/(root)/PhysicsEngines_FactoryTest/Clone_1/
• https://build.osrfoundation.org/job/gazebo-ci-default-xenial-amd64-gpu-nvidia/lastCompletedBuild/testReport/(root)/PhysicsEngines_FactoryTest/Clone_1/
• https://build.osrfoundation.org/job/gazebo-ci-gazebo8-xenial-amd64-gpu-nvidia/45/
• https://build.osrfoundation.org/job/gazebo-ci-default-xenial-amd64-gpu-nvidia/79/

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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The failed expectations are related to expecting joint limits to be the same in the original and cloned pr2 models.

I think this was caused by the changes to bullet in pull request #2757. We didn't see the test failure in that pull request that was targeted to gazebo7, but it shows up in gazebo8 due to the API change introduced in f4ff5b1 (deprecation of GetUpper/LowerLimit). The API's that were formerly used returned the joint limits initially set by sdf, not by querying the underlying bullet object.

At any rate, we need to add some tests to verify that joint limits are handled properly in bullet when there are off-axis inertia terms.

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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fix in pull request #2867

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• changed state from "new" to "resolved"

pull request #2867