Drake项目solvers:csdp_solver_test测试失败（TestSOS.MotzkinPolynomial）

环境信息 #

• 操作系统：Ubuntu 20
• 编译器：gcc 9

执行的操作步骤 #

cd /path/to/drake
bazel build //...                 # 构建整个项目
bazel test //...                  # 构建并测试整个项目

测试失败错误信息 #

[----------] Global test environment tear-down
[==========] 31 tests from 17 test suites ran. (123 ms total)
[  PASSED  ] 30 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] TestSOS.MotzkinPolynomial

 1 FAILED TEST
================================================================================
INFO: Elapsed time: 1.431s, Critical Path: 0.32s
INFO: 3 processes: 1 internal, 1 linux-sandbox, 1 local.
INFO: Build completed, 1 test FAILED, 3 total actions
//solvers:csdp_solver_test                                               FAILED in 0.2s
  /home/aj/.cache/bazel/_bazel_aj/84dff73cad498d702e4464d2c661c905/execroot/drake/bazel-out/k8-opt/testlogs/solvers/csdp_solver_test/test.log

Executed 2 out of 6054 tests: 6053 tests pass and 1 fails locally.
INFO: Build completed, 1 test FAILED, 3 total actions

详细测试日志 #

//solvers:csdp_solver_test
[ RUN      ] TestSOS.MotzkinPolynomial
/home/aj/workspace/drake/solvers/sos_test.cc:168: Failure
Expected equality of these values:
  solver.Solve(program)
    Which is: 0 (SolutionResult::kSolutionFound)
  SolutionResult::kInfeasible
    Which is: 2
Motzkin polynomial is not SOS, so CSDP should report infeasible, but it reports success
[  FAILED  ] TestSOS.MotzkinPolynomial (0 ms)

恳请协助排查TestSOS.MotzkinPolynomial测试失败的原因。

内容的提问来源于stack exchange，提问作者Ajay G