Closed RussTedrake closed 9 years ago
just got this one also:
Site: drake006 Build Name: lcm-RobotLocomotion-master Build Server Directory: /tmp/drake-lcm-28788/drake CDash: http://kobol.csail.mit.edu/cd/index.php?project=Drake&date=20141015
Most recent commits to drake included in this build:
37e238b Merge pull request #489 from hongkai-dai/fix-testIK
b017d80 more robust double pend visualizer
eaa225c change testIK tolerance on gaze constraint. delete testIKGaze
fc15ebe Merge pull request #482 from RussTedrake/traj_opt_notes
5ca23e1 Merge pull request #474 from rdeits/quadrotor-3d-demo
systems/plants/test/testMassSpringDamperTrajOpt (unknown issue)
error_id = MATLAB:svd:matrixWithNaNInf
error_message = Input to SVD must not contain NaN or Inf.
is_segfault = 0
< M A T L A B (R) >
Copyright 1984-2012 The MathWorks, Inc.
R2012b (8.0.0.783) 64-bit (glnxa64)
August 22, 2012
To get started, type one of these: helpwin, helpdesk, or demo.
For product information, visit www.mathworks.com.
To reproduce this test use rng(1512392754,'twister')
[Warning: Disabling autosave for simulink blocks (to avoid generating a lot
of
*.mdl.autosave files in your directory. If you aren't a regular Simulink
user
and don't want this disabled, comment out this section in addpath_drake]
[> In addpath_drake at 74
In addpath_drake at 4]
Cannot find required pod snopt
[Warning: system has constraints, but they aren't enforced in the simulink
model
yet.]
[> In WarningManager>WarningManager.warnOnce at 21
In DrakeSystem.DrakeSystem>DrakeSystem.getModel at 251
In DynamicalSystem.simulate at 23
In DrakeSystem.DrakeSystem>DrakeSystem.simulate at 481
In
DirectTrajectoryOptimization>DirectTrajectoryOptimization.getInitialVars at
215
In DirectTrajectoryOptimization>DirectTrajectoryOptimization.solveTraj at
175
In testMassSpringDamperTrajOpt at 23]
[Warning: The default trust-region-reflective algorithm does not solve
problems
with the constraints you have specified. FMINCON will use the active-set
algorithm instead. For information on applicable algorithms, see Choosing
the
Algorithm in the documentation.]
[> In fmincon at 500
In NonlinearProgram>NonlinearProgram.fmincon at 1349
In NonlinearProgram>NonlinearProgram.solve at 924
In DynamicalSystem.DynamicalSystem>DynamicalSystem.resolveConstraints at
325
In DrakeSystem.DrakeSystem>DrakeSystem.getInitialState at 53
In CascadeSystem>CascadeSystem.getInitialState at 84
In DynamicalSystem.simulate at 96
In DrakeSystem.DrakeSystem>DrakeSystem.simulate at 481
In
DirectTrajectoryOptimization>DirectTrajectoryOptimization.getInitialVars at
215
In DirectTrajectoryOptimization>DirectTrajectoryOptimization.solveTraj at
175
In testMassSpringDamperTrajOpt at 23]
[Warning: Your current settings will run a different algorithm
(interior-point)
in a future release.]
[> In fmincon at 505
In NonlinearProgram>NonlinearProgram.fmincon at 1349
In NonlinearProgram>NonlinearProgram.solve at 924
In DynamicalSystem.DynamicalSystem>DynamicalSystem.resolveConstraints at
325
In DrakeSystem.DrakeSystem>DrakeSystem.getInitialState at 53
In CascadeSystem>CascadeSystem.getInitialState at 84
In DynamicalSystem.simulate at 96
In DrakeSystem.DrakeSystem>DrakeSystem.simulate at 481
In
DirectTrajectoryOptimization>DirectTrajectoryOptimization.getInitialVars at
215
In DirectTrajectoryOptimization>DirectTrajectoryOptimization.solveTraj at
175
In testMassSpringDamperTrajOpt at 23]
[Warning: The default trust-region-reflective algorithm does not solve
problems
with the constraints you have specified. FMINCON will use the active-set
algorithm instead. For information on applicable algorithms, see Choosing
the
Algorithm in the documentation.]
[> In fmincon at 500
In NonlinearProgram>NonlinearProgram.fmincon at 1349
In NonlinearProgram>NonlinearProgram.solve at 924
In DirectTrajectoryOptimization>DirectTrajectoryOptimization.solveTraj at
176
In testMassSpringDamperTrajOpt at 23]
[Warning: Your current settings will run a different algorithm
(interior-point)
in a future release.]
[> In fmincon at 505
In NonlinearProgram>NonlinearProgram.fmincon at 1349
In NonlinearProgram>NonlinearProgram.solve at 924
In DirectTrajectoryOptimization>DirectTrajectoryOptimization.solveTraj at
176
In testMassSpringDamperTrajOpt at 23]
[Warning: Matrix is singular, close to singular or badly scaled. Results
may be
inaccurate. RCOND = NaN.]
[> In qpsub>eqnsolv at 953
In qpsub at 157
In nlconst at 619
In fmincon at 837
In NonlinearProgram>NonlinearProgram.fmincon at 1349
In NonlinearProgram>NonlinearProgram.solve at 924
In DirectTrajectoryOptimization>DirectTrajectoryOptimization.solveTraj at
176
In testMassSpringDamperTrajOpt at 23]
Error using svd
Input to SVD must not contain NaN or Inf.
Error in pinv (line 29)
[U,S,V] = svd(A,0);
Error in qpsub (line 463)
projSD = pinv(projH)*(-Zgf);
Error in nlconst (line 619)
[SD,lambda,exitflagqp,outputqp,howqp,ACTIND] ...
Error in fmincon (line 837)
[X,FVAL,LAMBDA,EXITFLAG,OUTPUT,GRAD,HESSIAN]=...
Error in NonlinearProgram/fmincon (line 1349)
[x,objval,exitflag] = fmincon(@obj.objective,x0,full(obj.Ain),...
Error in NonlinearProgram/solve (line 924)
[x,objval,exitflag,infeasible_constraint_name] = fmincon(obj,x0);
Error in DirectTrajectoryOptimization/solveTraj (line 176)
[z,F,info,infeasible_constraint_name] = obj.solve(z0);
Error in testMassSpringDamperTrajOpt (line 23)
[xtraj,utraj,~,~,info] = prog.solveTraj(tf0);
<test_name>systems/plants/test/testMassSpringDamperTrajOpt</test_name>
<error_id>MATLAB:svd:matrixWithNaNInf</error_id> <error_message>Input to
SVD must not contain NaN or Inf.</error_message>
quick consensus is that this is pretty deep in fmincon and the other solvers work (maybe not our fault?)
It is actually a fault in our code, that our dynamic computation gives nan
results. When x(1)
is zero, the dynamics gradient contains nan
. The following code shows the error:
>>p = RigidBodyManipulator('MassSpringDamper.urdf');
>> [xdot,dxdot] = p.dynamics(0,[0;1],1)
xdot =
1.0000
1.0000
dxdot =
(2,2) NaN
(1,3) 1
(2,4) 1
>> [xdot,dxdot] = p.dynamics(0,[0.001;1],1)
xdot =
1.0000
-0.0100
dxdot =
(2,2) -10.0000
(1,3) 1.0000
(2,3) -1.0000
(2,4) 1.0000
nice catch!
On Nov 1, 2014, at 2:21 AM, Hongkai Dai notifications@github.com wrote:
It is actually a fault in our code, that our dynamic computation gives nan results. When x(1) is zero, the dynamics gradient contains nan. The following code shows the error:
p = RigidBodyManipulator('MassSpringDamper.urdf'); [xdot,dxdot] = p.dynamics(0,[0;1],1)
xdot =
1.0000 1.0000
dxdot =
(2,2) NaN (1,3) 1 (2,4) 1
[xdot,dxdot] = p.dynamics(0,[0.001;1],1)
xdot =
1.0000
-0.0100
dxdot =
(2,2) -10.0000 (1,3) 1.0000 (2,3) -1.0000 (2,4) 1.0000
— Reply to this email directly or view it on GitHub.
Site: drake002 Build Name: minimal-RobotLocomotion-master Build Server Directory: /tmp/drake-minimal-13467/drake CDash: http://kobol.csail.mit.edu/cd/index.php?project=Drake&date=20141014
Most recent commits to drake included in this build:
systems/plants/test/testMassSpringDamperTrajOpt (unknown issue)