JointTransmittedWrenchFeature common test fails for Bullet Featherstone plugin

[shameekganguly]

Environment

• OS Version: Ubuntu 22.04
• Source build: gz-physics8, bullet (master)

Description

• Expected behavior: All tests pass with gz-physics and bullet compiled from source

$ colcon test --merge-install --event-handlers console_direct+ --packages-select gz-physics8

• Actual behavior: COMMON_TEST_joint_transmitted_wrench_features_bullet-featherstone fails:

89: [ RUN      ] JointTransmittedWrenchFixture/0.ContactForces
89: JointTransmittedWrenchFeaturesTest::GetLibToTest() /usr/local/google/home/shameek/ionic_ws/build/gz-physics8/lib/libgz-physics8-bullet-featherstone-plugin.so.8.1.0
89: Testing plugin: gz::physics::bullet_featherstone::Plugin
89: /usr/local/google/home/shameek/ionic_ws/src/gz-physics/test/common_test/joint_transmitted_wrench_features.cc:436: Failure
89: The difference between 0.0 and this->motorJoint->GetVelocity(0) is 0.33826053142547607, which exceeds 1e-3, where
89: 0.0 evaluates to 0,
89: this->motorJoint->GetVelocity(0) evaluates to 0.33826053142547607, and
89: 1e-3 evaluates to 0.001.
89: Scaled difference in force: 0.418594 | Difference: 13.9476 | Scale: 33.32 | (Tolerance: 0.0001)
89: /usr/local/google/home/shameek/ionic_ws/src/gz-physics/test/common_test/joint_transmitted_wrench_features.cc:468: Failure
89: Value of: gz::physics::test::Equal(expectedWrenchAtMotorJointInJoint, wrenchAtMotorJointInJoint, 1e-4)
89:   Actual: false
89: Expected: true
89: [  FAILED  ] JointTransmittedWrenchFixture/0.ContactForces, where TypeParam = JointTransmittedWrenchFeatureList (63 ms)

Note

This issue wasn't caught in CI because CI uses bullet 3.24 for which the above test case is skipped.

[scpeters]

that test is disabled because the fix in bulletphysics/bullet3#4462 from almost two years ago hasn't been released