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RSDK-2401 move to position calls with particular start goal specifications will erroneously fail #2153

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merged 3 commits into from
Apr 4, 2023
Merged

RSDK-2401 move to position calls with particular start goal specifications will erroneously fail #2153

merged 3 commits into from
Apr 4, 2023

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biotinker
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While the merge of 1899 had enough of a subtle adjustment of underlying float values that 2401 is coincidentally no longer hit on main, the bug still existed.

This PR was tested against the old failing main branch pre-1899 and a solution valid both pre- and post-1899 was developed.

@biotinker biotinker requested a review from spieswl April 3, 2023 22:00
@viambot viambot added the safe to test This pull request is marked safe to test from a trusted zone label Apr 3, 2023
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spieswl approved these changes Apr 4, 2023
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Nice and simple fix, LGTM

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Apr 4, 2023
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github-actions bot commented Apr 4, 2023

Code Coverage

Package Line Rate Delta Health
go.viam.com/rdk/components/arm 64% 0.00% ➖
go.viam.com/rdk/components/arm/fake 30% 0.00% ❌
go.viam.com/rdk/components/arm/universalrobots 42% 0.00% ❌
go.viam.com/rdk/components/arm/wrapper 20% 0.00% ❌
go.viam.com/rdk/components/arm/xarm 6% 0.00% ❌
go.viam.com/rdk/components/arm/yahboom 6% 0.00% ❌
go.viam.com/rdk/components/audioinput 53% 0.00% ➖
go.viam.com/rdk/components/base 61% 0.00% ➖
go.viam.com/rdk/components/base/agilex 62% 0.00% ➖
go.viam.com/rdk/components/base/boat 41% 0.00% ❌
go.viam.com/rdk/components/base/wheeled 76% 0.00% ✅
go.viam.com/rdk/components/board 65% -0.15% ➖
go.viam.com/rdk/components/board/arduino 10% 0.00% ❌
go.viam.com/rdk/components/board/fake 38% 0.00% ❌
go.viam.com/rdk/components/board/genericlinux 23% 0.00% ❌
go.viam.com/rdk/components/board/numato 19% 0.00% ❌
go.viam.com/rdk/components/board/pi 50% 0.00% ➖
go.viam.com/rdk/components/camera 64% 0.00% ➖
go.viam.com/rdk/components/camera/align 64% 0.00% ➖
go.viam.com/rdk/components/camera/fake 71% 0.00% ✅
go.viam.com/rdk/components/camera/ffmpeg 76% -1.43% ✅
go.viam.com/rdk/components/camera/rtsp 44% +0.86% ❌
go.viam.com/rdk/components/camera/transformpipeline 78% 0.00% ✅
go.viam.com/rdk/components/camera/videosource 34% 0.00% ❌
go.viam.com/rdk/components/encoder 15% 0.00% ❌
go.viam.com/rdk/components/encoder/fake 76% 0.00% ✅
go.viam.com/rdk/components/gantry 58% 0.00% ➖
go.viam.com/rdk/components/gantry/multiaxis 85% 0.00% ✅
go.viam.com/rdk/components/gantry/oneaxis 86% 0.00% ✅
go.viam.com/rdk/components/generic 82% 0.00% ✅
go.viam.com/rdk/components/gripper 67% 0.00% ➖
go.viam.com/rdk/components/input 86% 0.00% ✅
go.viam.com/rdk/components/input/fake 86% 0.00% ✅
go.viam.com/rdk/components/input/gpio 84% 0.00% ✅
go.viam.com/rdk/components/motor 76% 0.00% ✅
go.viam.com/rdk/components/motor/dimensionengineering 63% 0.00% ➖
go.viam.com/rdk/components/motor/dmc4000 69% 0.00% ➖
go.viam.com/rdk/components/motor/fake 56% 0.00% ➖
go.viam.com/rdk/components/motor/gpio 66% -0.41% ➖
go.viam.com/rdk/components/motor/gpiostepper 56% -0.59% ➖
go.viam.com/rdk/components/motor/tmcstepper 62% 0.00% ➖
go.viam.com/rdk/components/motor/ulnstepper 52% 0.00% ➖
go.viam.com/rdk/components/movementsensor 74% 0.00% ✅
go.viam.com/rdk/components/movementsensor/adxl345 66% 0.00% ➖
go.viam.com/rdk/components/movementsensor/cameramono 45% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsnmea 36% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsrtk 29% 0.00% ❌
go.viam.com/rdk/components/movementsensor/mpu6050 83% 0.00% ✅
go.viam.com/rdk/components/posetracker 84% 0.00% ✅
go.viam.com/rdk/components/sensor 66% 0.00% ➖
go.viam.com/rdk/components/sensor/ultrasonic 31% 0.00% ❌
go.viam.com/rdk/components/servo 66% 0.00% ➖
go.viam.com/rdk/components/servo/gpio 71% 0.00% ✅
go.viam.com/rdk/config 77% 0.00% ✅
go.viam.com/rdk/control 57% 0.00% ➖
go.viam.com/rdk/data 77% 0.00% ✅
go.viam.com/rdk/examples/customresources/demos/remoteserver 0% 0.00% ❌
go.viam.com/rdk/grpc 25% 0.00% ❌
go.viam.com/rdk/ml 67% 0.00% ➖
go.viam.com/rdk/ml/inference 70% 0.00% ✅
go.viam.com/rdk/module 67% 0.00% ➖
go.viam.com/rdk/module/modmanager 80% 0.00% ✅
go.viam.com/rdk/motionplan 71% +0.07% ✅
go.viam.com/rdk/operation 82% 0.00% ✅
go.viam.com/rdk/pointcloud 69% 0.00% ➖
go.viam.com/rdk/protoutils 49% 0.00% ❌
go.viam.com/rdk/referenceframe 72% 0.00% ✅
go.viam.com/rdk/registry 83% 0.00% ✅
go.viam.com/rdk/resource 84% 0.00% ✅
go.viam.com/rdk/rimage 78% 0.00% ✅
go.viam.com/rdk/rimage/depthadapter 94% 0.00% ✅
go.viam.com/rdk/rimage/transform 75% 0.00% ✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00% ➖
go.viam.com/rdk/robot 86% 0.00% ✅
go.viam.com/rdk/robot/client 82% 0.00% ✅
go.viam.com/rdk/robot/framesystem 65% 0.00% ➖
go.viam.com/rdk/robot/impl 80% +0.20% ✅
go.viam.com/rdk/robot/packages 80% 0.00% ✅
go.viam.com/rdk/robot/server 53% 0.00% ➖
go.viam.com/rdk/robot/web 64% 0.00% ➖
go.viam.com/rdk/robot/web/stream 87% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol/builtin 78% 0.00% ✅
go.viam.com/rdk/services/datamanager 75% 0.00% ✅
go.viam.com/rdk/services/datamanager/builtin 85% +0.44% ✅
go.viam.com/rdk/services/datamanager/datacapture 73% 0.00% ✅
go.viam.com/rdk/services/datamanager/datasync 0% 0.00% ❌
go.viam.com/rdk/services/motion 62% 0.00% ➖
go.viam.com/rdk/services/motion/builtin 88% 0.00% ✅
go.viam.com/rdk/services/navigation 54% 0.00% ➖
go.viam.com/rdk/services/sensors 74% 0.00% ✅
go.viam.com/rdk/services/sensors/builtin 97% 0.00% ✅
go.viam.com/rdk/services/shell 25% 0.00% ❌
go.viam.com/rdk/services/slam 84% 0.00% ✅
go.viam.com/rdk/services/slam/builtin 74% -0.43% ✅
go.viam.com/rdk/services/slam/fake 90% 0.00% ✅
go.viam.com/rdk/services/slam/slam_copy/config 97% 0.00% ✅
go.viam.com/rdk/services/slam/slam_copy/dataprocess 71% 0.00% ✅
go.viam.com/rdk/services/slam/slam_copy/utils 100% 0.00% ✅
go.viam.com/rdk/services/vision 79% 0.00% ✅
go.viam.com/rdk/services/vision/builtin 74% 0.00% ✅
go.viam.com/rdk/session 97% 0.00% ✅
go.viam.com/rdk/spatialmath 84% 0.00% ✅
go.viam.com/rdk/subtype 92% 0.00% ✅
go.viam.com/rdk/utils 72% -0.18% ✅
go.viam.com/rdk/vision 26% 0.00% ❌
go.viam.com/rdk/vision/chess 80% 0.00% ✅
go.viam.com/rdk/vision/delaunay 87% 0.00% ✅
go.viam.com/rdk/vision/keypoints 92% 0.00% ✅
go.viam.com/rdk/vision/objectdetection 82% 0.00% ✅
go.viam.com/rdk/vision/odometry 60% 0.00% ➖
go.viam.com/rdk/vision/odometry/cmd 0% 0.00% ❌
go.viam.com/rdk/vision/segmentation 49% 0.00% ❌
go.viam.com/rdk/web/server 26% 0.00% ❌
Summary 65% (22737 / 34787) 0.00% ➖

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github-actions bot commented Apr 4, 2023

Availability

Scene # viamrobotics:main biotinker:20230403_RSDK-2401-move-to-position-calls-with-particular-start-goal-specifications-will-erroneously-fail Percent Improvement Health
1 100% 100% 0% ➖
2 100% 100% 0% ➖
3 100% 100% 0% ➖
4 30% 100% 233% ✅
5 70% 60% -14% ❌
6 0% 50% +Inf% ✅
7 30% 50% 67% ✅
8 100% 100% 0% ➖
9 100% 100% 0% ➖
10 100% 100% 0% ➖
11 100% 100% 0% ➖
12 100% 100% 0% ➖

Quality

Scene # viamrobotics:main biotinker:20230403_RSDK-2401-move-to-position-calls-with-particular-start-goal-specifications-will-erroneously-fail Percent Improvement Probability of Improvement Health
1 1.31±0.00 1.77±1.36 -35% 37% ➖
2 0.90±0.00 0.90±0.00 -0% 32% ➖
3 3.84±0.77 3.12±0.58 19% 77% ➖
4 5.38±2.31 4.75±1.72 12% 59% ➖
5 22.40±4.78 23.86±5.95 -7% 42% ➖
6 NaN±NaN 18.75±3.28 NaN% 100% ✅
7 12.36±7.01 11.25±4.06 9% 55% ➖
8 5.19±0.86 5.30±0.99 -2% 47% ➖
9 4.52±0.19 4.48±0.18 1% 56% ➖
10 4.28±0.41 4.34±0.40 -1% 46% ➖
11 5.06±0.64 5.07±0.65 -0% 49% ➖
12 4.21±0.98 4.10±0.93 3% 53% ➖

Performance

Scene # viamrobotics:main biotinker:20230403_RSDK-2401-move-to-position-calls-with-particular-start-goal-specifications-will-erroneously-fail Percent Improvement Probability of Improvement Health
1 5.50±2.87 5.50±2.87 -0% 50% ➖
2 5.50±2.87 5.50±2.87 -0% 50% ➖
3 5.50±2.87 5.50±2.87 -0% 50% ➖
4 3.67±3.09 5.50±2.87 -50% 33% ➖
5 5.57±2.66 4.83±2.11 13% 59% ➖
6 NaN±NaN 4.60±3.20 NaN% 100% ✅
7 7.33±1.70 6.00±2.83 18% 66% ➖
8 5.50±2.87 5.50±2.87 -0% 50% ➖
9 5.50±2.87 5.50±2.87 -0% 50% ➖
10 5.50±2.87 5.50±2.87 -0% 50% ➖
11 5.50±2.87 5.50±2.87 -0% 50% ➖
12 5.50±2.87 5.50±2.87 -0% 50% ➖

The above data was generated by running scenes defined in the motion-testing repository
The SHA1 for viamrobotics:main is: 582f0769ecb07b78e7a7820bd71da099814e30cc
The SHA1 for biotinker:20230403_RSDK-2401-move-to-position-calls-with-particular-start-goal-specifications-will-erroneously-fail is: 582f0769ecb07b78e7a7820bd71da099814e30cc

  • 10 samples were taken for each scene
  • A timeout of 5.0 seconds was imposed for each trial

@biotinker biotinker merged commit 31932b2 into viamrobotics:main Apr 4, 2023
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@biotinker @spieswl @viambot