rdeits
commented
9 years ago This does not occur for me on RobotLocomotion/drake master on my machine. I'll try to reproduce it on another machine.
Closed RussTedrake closed 9 years ago
rdeits
commented
9 years ago This does not occur for me on RobotLocomotion/drake master on my machine. I'll try to reproduce it on another machine.
rdeits
commented
9 years ago Both my mac and my DRC laptop run the example without encountering this error on drake/master.
rdeits
commented
9 years ago This also doesn't occur for me at 364335f which is the commit at which the attached error message was generated. I have no idea why it shows up on the build servers and not on my machines...
RussTedrake
commented
9 years ago i'll take a look on my machines.
On Jan 2, 2015, at 2:49 PM, Robin Deits notifications@github.com wrote:
This also doesn't occur for me at 364335f which is the commit at which the attached error message was generated. I have no idea why it shows up on the build servers and not on my machines...
— Reply to this email directly or view it on GitHub.
RussTedrake
commented
9 years ago can you try running it after calling
global g_disable_visualizers; g_disable_visualizers=true;On Jan 2, 2015, at 2:49 PM, Robin Deits notifications@github.com wrote:
This also doesn't occur for me at 364335f which is the commit at which the attached error message was generated. I have no idea why it shows up on the build servers and not on my machines...
— Reply to this email directly or view it on GitHub.
RussTedrake
commented
9 years ago have you seen this one?
Simulating the system...
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 253
In DynamicalSystem.simulate at 23
In DrakeSystem.DrakeSystem>DrakeSystem.simulate at 490
In runMixedIntegerEnvironment at 136
In runMixedIntegerSimpleForest at 21
Calling addpath_snopt
DrakeSystem S-Function: error when calling ''getInitialState'' with the following arguments:
FeedbackSystem with properties:
sys1: [1x1 Quadrotor]
sys2: [1x1 AffineSystem]
sys1ind: [12x1 double]
sys2ind: [0x1 double]
umin: [4x1 double]
umax: [4x1 double]
warning_manager: [1x1 WarningManager]
An error occurred while trying to determine whether "permute" is a function name.
Error in cross (line 64)
c = ipermute(c,perm);
Error in RigidBodyManipulator/surfaceTangents (line 1914)
t2 = cross(t1,normal);
Error in RigidBodyManipulator/contactConstraints (line 60)
d = obj.surfaceTangents(normal);
Error in RigidBodyManipulator/compile/nonpenetrationConstraint (line 802)
[phi,~,~,~,~,~,~,~,dphi] = contactConstraints(model,kinsol,false,model.contact_options);
Error in FunctionHandleConstraint/constraintEval (line 44)
[varargout{:}] = obj.eval_handle(varargin{:});
Error in Constraint/eval (line 121)
[varargout{:}] = obj.constraintEval(varargin{:});
Error in NonlinearProgram/objectiveAndNonlinearConstraints (line 568)
[f(f_count+(1:obj.nlcon{i}.num_cnstr)),G(f_count+(1:obj.nlcon{i}.num_cnstr),obj.nlcon_xind_stacked{i})] = ...
Error in NonlinearProgram/snopt/snopt_userfun (line 1286)
[f,G] = objectiveAndNonlinearConstraints(obj,x_all);
Error in snoptUserfun (line 6)
[f,G] = SNOPT_USERFUN(x);
Error in NonlinearProgram/snopt (line 1349)
[x_free,objval,exitflag,xmul,Fmul] = NonlinearProgramSnoptmex(x0_free, ...
Error in NonlinearProgram/solve (line 946)
[x,objval,exitflag,infeasible_constraint_name] = snopt(obj,x0);
Error in DynamicalSystem/resolveConstraints (line 325)
[x,~,exitflag,infeasible_constraint_name] = solve(prog,x0);
Error in DrakeSystem/getInitialState (line 53)
[x0,success] = resolveConstraints(obj,x0);
Error in FeedbackSystem/getInitialState (line 83)
x0=encodeX(obj,getInitialState(obj.sys1),getInitialState(obj.sys2));
Error in getInitialState (line 27)
Error in sl (line 15)
[varargout{1:nargout}]=feval(varargin{:});
Error in Simulink.BlockDiagram.getInitialState (line 26)
Error in DynamicalSystem/stateVectorToStructure (line 663)
obj.structured_x = Simulink.BlockDiagram.getInitialState(mdl);
Error in DynamicalSystem/simulate (line 54)
x0 = stateVectorToStructure(obj,x0,mdl);
Error in DrakeSystem/simulate (line 490)
[varargout{:}] = simulate@DynamicalSystem(obj,varargin{:});
Error in runMixedIntegerEnvironment (line 136)
xtraj_sim = simulate(sys,[0 tf],x0);
Error in runMixedIntegerSimpleForest (line 21)
runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_segments, n_regions);
Error using getInitialState (line 27)
Error reported by S-function 'DCSFunction' in
'FeedbackSystem_063587519665577088/DrakeSys':
DrakeSystem S-Function: error MATLAB:err_while_looking_up_function in MATLAB
callback.
See additional debugging information above
Error in sl (line 15)
[varargout{1:nargout}]=feval(varargin{:});
Error in Simulink.BlockDiagram.getInitialState (line 26)
Error in DynamicalSystem/stateVectorToStructure (line 663)
obj.structured_x = Simulink.BlockDiagram.getInitialState(mdl);
Error in DynamicalSystem/simulate (line 54)
x0 = stateVectorToStructure(obj,x0,mdl);
Error in DrakeSystem/simulate (line 490)
[varargout{:}] = simulate@DynamicalSystem(obj,varargin{:});
Error in runMixedIntegerEnvironment (line 136)
xtraj_sim = simulate(sys,[0 tf],x0);
Error in runMixedIntegerSimpleForest (line 21)
runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_segments,
n_regions);
i'm having it regularly here (but not always??), but it's proving to be a real pain to debug.
On Jan 2, 2015, at 3:23 PM, Russ Tedrake russt@csail.mit.edu wrote:
can you try running it after calling
global g_disable_visualizers; g_disable_visualizers=true;On Jan 2, 2015, at 2:49 PM, Robin Deits notifications@github.com wrote:
This also doesn't occur for me at 364335f which is the commit at which the attached error message was generated. I have no idea why it shows up on the build servers and not on my machines...
— Reply to this email directly or view it on GitHub.
rdeits
commented
9 years ago Ew, no, I haven't seen that one before. Here's a guess: yalmip has an @ndsdpvar/permute.m which normally wouldn't be a problem, BUT, ndsdpvar has no classdef (it's not a full-fledged class, it seems), so perhaps that's confusing things? I've been using yalmip with tbxmanager, whereas you're using the yalmip pod, and perhaps those systems set the path in different ways? I'll keep looking...
rdeits
commented
9 years ago Okay, thanks for the visualizers tip: that's indeed the problem. The issue is that the NullVisualizer requires 12 inputs (6 positions and 6 velocities), but the BotVisualizer expects 6 inputs. Everything seems to work if I just pass the full 12 states into the visualizer.
RussTedrake
commented
9 years ago that sounds right. the state coordinate frame has a transform down to the position frame, which gets automatically inserted in the BotVisualizer case.
On Jan 2, 2015, at 11:14 PM, Robin Deits notifications@github.com wrote:
Okay, thanks for the visualizers tip: that's indeed the problem. The issue is that the NullVisualizer requires 12 inputs (6 positions and 6 velocities), but the BotVisualizer expects 6 inputs. Everything seems to work if I just pass the full 12 states into the visualizer.
— Reply to this email directly or view it on GitHub.
Site: drake007 Build Name: master-RobotLocomotion-master Build Server Directory: /tmp/drake-master-1644/drake CDash: http://kobol.csail.mit.edu/cd/index.php?project=Drake&date=20150102
Most recent commits to drake included in this build:
examples/Quadrotor/runMixedIntegerSimpleForest (unknown issue)