-
Notifications
You must be signed in to change notification settings - Fork 76
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
RunVIP vs RunComputeProfiles #23
Comments
I just checked your trajectory, actually it's pretty complex and generates a lot of singularities that TOPP was not able to handle, see the MVC attached. The computation of the CLC failed and was not detected by VIP (VIP currently does not check for the continuity of the CLC, I should add that), which falsely reported success. However, when running RunComputeProfiles, the non-continuity of the CLC was detected and failure was reported. May I ask where the trajectory comes from? Any way to make it a bit smoother before feeding to TOPP? Here's the code to generate the MVC and CLC
|
I will work on detecting the non-continuity of the CLC and patching the CLC (even non-optimally). |
I ran into a problem where VIP (using RunVIP) was successful, but computing a valid speed profile using any of the end-speeds inside the interval obtained from VIP is failing.
(1) Running VIP starting with zero speed produces a valid sd_end interval:
discrtimestep 0.001 TOPP RunVIP (0,0) code: 1 (Success) sd_end: [ 0.0 , 0.187701511064 ]
(2) trying to obtain a speed profile via RunComputeProfiles fails for any of the speeds inside the sd_end speed interval:
discrtimestep 0.001 TOPP RunComputeProfiles (0, 0.0 ) code: 0 (Failure)
discrtimestep 0.001 TOPP RunComputeProfiles (0, 0.046925377766 ) code: 0 (Failure)
discrtimestep 0.001 TOPP RunComputeProfiles (0, 0.093850755532 ) code: 0 (Failure)
discrtimestep 0.001 TOPP RunComputeProfiles (0, 0.140776133298 ) code: 0 (Failure)
discrtimestep 0.001 TOPP RunComputeProfiles (0, 0.187701511064 ) code: 0 (Failure)
To reproduce the results:
wget https://raw.githubusercontent.com/orthez/openrave-forcefields/master/topp/a
wget https://raw.githubusercontent.com/orthez/openrave-forcefields/master/topp/b
wget https://raw.githubusercontent.com/orthez/openrave-forcefields/master/topp/c
wget https://raw.githubusercontent.com/orthez/openrave-forcefields/master/topp/traj0
wget https://github.com/orthez/openrave-forcefields/blob/master/topp/test_topp_standalone3.py
python test_topp_standalone3.py
Edit: related to
#6
#7
#9
The text was updated successfully, but these errors were encountered: