You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
I am trying to use the TOWR standalone to generate some reference footstep planning data for the Cassie robot on arbitrary height map terrains. I have implemented a class that reads CSV files to generate discrete heightmaps, and I’ve adapted the biped robot’s EE workspaces and mass for Cassie. I am running into a problem where the optimizer is reporting infeasibility (return code 2) even for motions that should be simple (5-7 footsteps over 5-10 seconds, 1 meter forward over a single stair of 0-5 cm). Do you have any suggestions on how to debug this? Thanks!
The text was updated successfully, but these errors were encountered:
Hersh500
changed the title
Optimization reporting infeasibility for "simple" motions
Optimization reporting infeasibility on simple terrains
Jun 14, 2022
I am trying to use the TOWR standalone to generate some reference footstep planning data for the Cassie robot on arbitrary height map terrains. I have implemented a class that reads CSV files to generate discrete heightmaps, and I’ve adapted the biped robot’s EE workspaces and mass for Cassie. I am running into a problem where the optimizer is reporting infeasibility (return code 2) even for motions that should be simple (5-7 footsteps over 5-10 seconds, 1 meter forward over a single stair of 0-5 cm). Do you have any suggestions on how to debug this? Thanks!
The text was updated successfully, but these errors were encountered: