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Model-based design and verification for robotics.
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Simulation should terminate before pathlcp fails due to large values #689

Closed nicolapiccinelli closed 9 years ago

nicolapiccinelli commented 9 years ago

Hi, i'm against a strange lcppath behaviour. I'm simulating a passive walker with hip actuation. I've build the robot using an urdf definition and i'm using bullet collision with a custom sloped shape acting as ground. The problem appear when the path solver fail successively for 3,4 executions and giving me a segfault from this mex file lcppath.mexa64. I'm using Matlab R2014a on Ubuntu 14.04.

Error using pathlcp (line 163) Path fails to solve problem

This is the detailed log:

MATLAB crash file:/home/npiccinelli/matlab_crash_dump.28044-1:

------------------------------------------------------------------------
       Segmentation violation detected at Thu Jan 15 21:51:42 2015
------------------------------------------------------------------------

Configuration:
  Crash Decoding     : Disabled
  Current Visual     : 0x21 (class 4, depth 24)
  Default Encoding   : UTF-8
  GNU C Library      : 2.19 stable
  MATLAB Architecture: glnxa64
  MATLAB Root        : /usr/local/MATLAB/R2014a
  MATLAB Version     : 8.3.0.532 (R2014a)
  Operating System   : Linux 3.13.0-43-generic #72-Ubuntu SMP Mon Dec 8 19:35:06 UTC 2014 x86_64
  Processor ID       : x86 Family 6 Model 15 Stepping 6, GenuineIntel
  Virtual Machine    : Java 1.7.0_11-b21 with Oracle Corporation Java HotSpot(TM) 64-Bit Server VM mixed mode
  Window System      : The X.Org Foundation (11501000), display :0

Fault Count: 1

Abnormal termination:
Segmentation violation

Register State (from fault):
  RAX = 00000000000000c5  RBX = 0000000000000002
  RCX = 0000000000000404  RDX = 0000000000000404
  RSP = 00007f44b7a57050  RBP = 00007f44b7a57060
  RSI = 0000000000000404  RDI = 00000000000000c5

   R8 = 0000000000000002   R9 = 00007f44a8000078
  R10 = 2530352e3738202c  R11 = 0000000000000025
  R12 = 00007f44b7a577c0  R13 = 00007f4400bdf6a0
  R14 = 00007f44b7a577f8  R15 = 00007f44cabc1560

  RIP = 00007f4406541ebc  EFL = 0000000000010202

   CS = 0033   FS = 0000   GS = 0000

Stack Trace (from fault):
[  0] 0x00007f4406541ebc /home/npiccinelli/tesi/drake-distro/drake/thirdParty/path/lcppath.mexa64+00196284
[  1] 0x00007f440657be8c /home/npiccinelli/tesi/drake-distro/drake/thirdParty/path/lcppath.mexa64+00433804
[  2] 0x00007f440652f7e6 /home/npiccinelli/tesi/drake-distro/drake/thirdParty/path/lcppath.mexa64+00120806
[  3] 0x00007f440652e86c /home/npiccinelli/tesi/drake-distro/drake/thirdParty/path/lcppath.mexa64+00116844
[  4] 0x00007f4406545ec1 /home/npiccinelli/tesi/drake-distro/drake/thirdParty/path/lcppath.mexa64+00212673
[  5] 0x00007f440651475f /home/npiccinelli/tesi/drake-distro/drake/thirdParty/path/lcppath.mexa64+00010079 mexFunction+00001428
[  6] 0x00007f44c1d1d72a     /usr/local/MATLAB/R2014a/bin/glnxa64/libmex.so+00120618 mexRunMexFile+00000090
[  7] 0x00007f44c1d19a94     /usr/local/MATLAB/R2014a/bin/glnxa64/libmex.so+00105108
[  8] 0x00007f44c1d1afb4     /usr/local/MATLAB/R2014a/bin/glnxa64/libmex.so+00110516
[  9] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArray_tagiS2_+00000697
[ 10] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486
[ 11] 0x00007f44c01a61d0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02318800
[ 12] 0x00007f44c01a81ea /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327018
[ 13] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175
[ 14] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247
[ 15] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404
[ 16] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427
[ 17] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArray_tagiS2_+00000697
[ 18] 0x00007f44c03b12b4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+04461236
[ 19] 0x00007f44c03b2bc9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+04467657
[ 20] 0x00007f44c03b33fc /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+04469756
[ 21] 0x00007f44c022d6e3 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02873059
[ 22] 0x00007f44c023d09e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02936990
[ 23] 0x00007f44c023d183 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02937219
[ 24] 0x00007f44c0373172 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+04206962
[ 25] 0x00007f44c01a8589 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327945
[ 26] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175
[ 27] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247
[ 28] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404
[ 29] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427
[ 30] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArray_tagiS2_+00000697
[ 31] 0x00007f44c0d2f882  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01448066
[ 32] 0x00007f44c0dba4b0  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02016432
[ 33] 0x00007f44c10c3874 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00338036 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArray_tagiS2_+00000244
[ 34] 0x00007f44c0dbb031  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02019377
[ 35] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486
[ 36] 0x00007f44c01a61d0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02318800
[ 37] 0x00007f44c01a81ea /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327018
[ 38] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175
[ 39] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247
[ 40] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404
[ 41] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427
[ 42] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArray_tagiS2_+00000697
[ 43] 0x00007f44c0d2f882  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01448066
[ 44] 0x00007f44c0dba4b0  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02016432
[ 45] 0x00007f44c10c3874 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00338036 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArray_tagiS2_+00000244
[ 46] 0x00007f44c0dbb031  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02019377
[ 47] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486
[ 48] 0x00007f44c01a61d0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02318800
[ 49] 0x00007f44c01a81ea /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327018
[ 50] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175
[ 51] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247
[ 52] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404
[ 53] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427
[ 54] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArray_tagiS2_+00000697
[ 55] 0x00007f44c0d2f882  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01448066
[ 56] 0x00007f44c0dba4b0  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02016432
[ 57] 0x00007f44c10c3874 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00338036 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArray_tagiS2_+00000244
[ 58] 0x00007f44c0dbb031  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02019377
[ 59] 0x00007f44c01d0360 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02491232
[ 60] 0x00007f44c01cf329 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02487081
[ 61] 0x00007f44c0144456 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+01918038 inCallFcnWithTrap+00000086
[ 62] 0x00007f44c019c2ab /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02278059
[ 63] 0x00007f44c0145b72 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+01923954 _Z28inCallFcnWithTrapInDesiredWSiPP11mxArray_tagiS1_PKcbP15inWorkSpace_tag+00000098
[ 64] 0x00007f44c0178b3c /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02132796 inMexCallMATLAB+00000204
[ 65] 0x00007f44c0152789 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+01976201
[ 66] 0x00007f44c0179673 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02135667 inMexCallMATLABWithTrap+00000067
[ 67] 0x00007f4406c08ddd /home/npiccinelli/tesi/drake-distro/drake/systems/DCSFunction.mexa64+00007645 _Z17mexCallMATLABsafeP13SimStruct_tagiPP11mxArray_tagiS3_PKc+00000077
[ 68] 0x00007f4406c099c5 /home/npiccinelli/tesi/drake-distro/drake/systems/DCSFunction.mexa64+00010693
[ 69] 0x00007f4406c0d31e /home/npiccinelli/tesi/drake-distro/drake/systems/DCSFunction.mexa64+00025374 mexFunction+00000478
[ 70] 0x00007f44c1d1d72a     /usr/local/MATLAB/R2014a/bin/glnxa64/libmex.so+00120618 mexRunMexFile+00000090
[ 71] 0x00007f44c1d19a94     /usr/local/MATLAB/R2014a/bin/glnxa64/libmex.so+00105108
[ 72] 0x00007f44c1d1afb4     /usr/local/MATLAB/R2014a/bin/glnxa64/libmex.so+00110516
[ 73] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArray_tagiS2_+00000697
[ 74] 0x00007f44c10edc03 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00510979 _Z17mdDoMatlabFcnCalliPP11mxArray_tagiPPKS_P13Mfh_MATLAB_fn9mpLmgrUse+00000131
[ 75] 0x00007f444d04cf11 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsl_services.so+00536337 _ZN25CMatlabCommandNoWatermark7executeEb11mxErrorMode+00000049
[ 76] 0x00007f444f77e03d /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+17936445
[ 77] 0x00007f444fc82f5b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+23199579
[ 78] 0x00007f444fc49e8e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+22965902
[ 79] 0x00007f444fa96d6f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+21183855
[ 80] 0x00007f444f4c3ccc /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+15076556
[ 81] 0x00007f444f5c25f7 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+16119287
[ 82] 0x00007f444fccf4c5 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+23512261
[ 83] 0x00007f444902f65b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsl_solver.so+00411227 _ZN9sl_solver9SimStepVS4stepEv+00000491
[ 84] 0x00007f444fccd93c /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+23505212
[ 85] 0x00007f444f4f3636 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+15271478
[ 86] 0x00007f444f4f450d /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+15275277
[ 87] 0x00007f444f38cca9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+13802665
[ 88] 0x00007f44c10d6de3 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00417251
[ 89] 0x00007f44c10c3874 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00338036 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArray_tagiS2_+00000244
[ 90] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486
[ 91] 0x00007f44c01a61d0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02318800
[ 92] 0x00007f44c01a81ea /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327018
[ 93] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175
[ 94] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247
[ 95] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404
[ 96] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427
[ 97] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArray_tagiS2_+00000697
[ 98] 0x00007f44c0d4c6e8  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01566440
[ 99] 0x00007f44c0cf6a02  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01214978
[100] 0x00007f44c0cf838e  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01221518
[101] 0x00007f44c0cfae50  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01232464
[102] 0x00007f44c0cf8873  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01222771
[103] 0x00007f44c0d4f62f  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01578543
[104] 0x00007f44c01510e8 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+01970408 inFullFevalFcn+00000232
[105] 0x00007f44c10d6de3 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00417251
[106] 0x00007f44c10c3874 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00338036 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArray_tagiS2_+00000244
[107] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486
[108] 0x00007f44c01a61d0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02318800
[109] 0x00007f44c01a81ea /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327018
[110] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175
[111] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247
[112] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404
[113] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427
[114] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArray_tagiS2_+00000697
[115] 0x00007f44c0d2f882  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01448066
[116] 0x00007f44c0dba4b0  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02016432
[117] 0x00007f44c10c3874 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00338036 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArray_tagiS2_+00000244
[118] 0x00007f44c0dbb031  /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02019377
[119] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486
[120] 0x00007f44c01a61d0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02318800
[121] 0x00007f44c01a81ea /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327018
[122] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175
[123] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247
[124] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404
[125] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427
[126] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArray_tagiS2_+00000697
[127] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486

This error was detected while a MEX-file was running. If the MEX-file
is not an official MathWorks function, please examine its source code
for errors. Please consult the External Interfaces Guide for information
on debugging MEX-files.

If this problem is reproducible, please submit a Service Request via:
    http://www.mathworks.com/support/contact_us/

A technical support engineer might contact you with further information.

Thank you for your help.
RussTedrake commented 9 years ago

that's no good. I would try to capture the data being sent into path when it fails, and make sure there is nothing obviously wrong with it (nans, etc).

On Jan 15, 2015, at 3:52 PM, nicolapiccinelli notifications@github.com wrote:

Hi, i'm against a strange lcppath behaviour. I'm simulating a passive walker with hip actuation. I've build the robot using an urdf definition and i'm using bullet collision with a custom sloped shape acting as ground. The problem appear when the path solver fail successively for 3,4 executions and giving me a segfault from this mex file lcppath.mexa64. I'm using Matlab R2014a on Ubuntu 14.04.

Error using pathlcp (line 163) Path fails to solve problem

This is the detailed log:

MATLAB crash file:/home/npiccinelli/matlab_crash_dump.28044-1:

   Segmentation violation detected at Thu Jan 15 21:51:42 2015

Configuration: Crash Decoding : Disabled Current Visual : 0x21 (class 4, depth 24) Default Encoding : UTF-8 GNU C Library : 2.19 stable MATLAB Architecture: glnxa64 MATLAB Root : /usr/local/MATLAB/R2014a MATLAB Version : 8.3.0.532 (R2014a) Operating System : Linux 3.13.0-43-generic #72-Ubuntu SMP Mon Dec 8 19:35:06 UTC 2014 x86_64 Processor ID : x86 Family 6 Model 15 Stepping 6, GenuineIntel Virtual Machine : Java 1.7.0_11-b21 with Oracle Corporation Java HotSpot(TM) 64-Bit Server VM mixed mode Window System : The X.Org Foundation (11501000), display :0

Fault Count: 1

Abnormal termination: Segmentation violation

Register State (from fault): RAX = 00000000000000c5 RBX = 0000000000000002 RCX = 0000000000000404 RDX = 0000000000000404 RSP = 00007f44b7a57050 RBP = 00007f44b7a57060 RSI = 0000000000000404 RDI = 00000000000000c5

R8 = 0000000000000002 R9 = 00007f44a8000078 R10 = 2530352e3738202c R11 = 0000000000000025 R12 = 00007f44b7a577c0 R13 = 00007f4400bdf6a0 R14 = 00007f44b7a577f8 R15 = 00007f44cabc1560

RIP = 00007f4406541ebc EFL = 0000000000010202

CS = 0033 FS = 0000 GS = 0000

Stack Trace (from fault): [ 0] 0x00007f4406541ebc /home/npiccinelli/tesi/drake-distro/drake/thirdParty/path/lcppath.mexa64+00196284 [ 1] 0x00007f440657be8c /home/npiccinelli/tesi/drake-distro/drake/thirdParty/path/lcppath.mexa64+00433804 [ 2] 0x00007f440652f7e6 /home/npiccinelli/tesi/drake-distro/drake/thirdParty/path/lcppath.mexa64+00120806 [ 3] 0x00007f440652e86c /home/npiccinelli/tesi/drake-distro/drake/thirdParty/path/lcppath.mexa64+00116844 [ 4] 0x00007f4406545ec1 /home/npiccinelli/tesi/drake-distro/drake/thirdParty/path/lcppath.mexa64+00212673 [ 5] 0x00007f440651475f /home/npiccinelli/tesi/drake-distro/drake/thirdParty/path/lcppath.mexa64+00010079 mexFunction+00001428 [ 6] 0x00007f44c1d1d72a /usr/local/MATLAB/R2014a/bin/glnxa64/libmex.so+00120618 mexRunMexFile+00000090 [ 7] 0x00007f44c1d19a94 /usr/local/MATLAB/R2014a/bin/glnxa64/libmex.so+00105108 [ 8] 0x00007f44c1d1afb4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmex.so+00110516 [ 9] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00000697 [ 10] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486 [ 11] 0x00007f44c01a61d0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02318800 [ 12] 0x00007f44c01a81ea /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327018 [ 13] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175 [ 14] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247 [ 15] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404 [ 16] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427 [ 17] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00000697 [ 18] 0x00007f44c03b12b4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+04461236 [ 19] 0x00007f44c03b2bc9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+04467657 [ 20] 0x00007f44c03b33fc /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+04469756 [ 21] 0x00007f44c022d6e3 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02873059 [ 22] 0x00007f44c023d09e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02936990 [ 23] 0x00007f44c023d183 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02937219 [ 24] 0x00007f44c0373172 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+04206962 [ 25] 0x00007f44c01a8589 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327945 [ 26] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175 [ 27] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247 [ 28] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404 [ 29] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427 [ 30] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00000697 [ 31] 0x00007f44c0d2f882 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01448066 [ 32] 0x00007f44c0dba4b0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02016432 [ 33] 0x00007f44c10c3874 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00338036 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArraytagiS2+00000244 [ 34] 0x00007f44c0dbb031 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02019377 [ 35] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486 [ 36] 0x00007f44c01a61d0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02318800 [ 37] 0x00007f44c01a81ea /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327018 [ 38] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175 [ 39] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247 [ 40] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404 [ 41] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427 [ 42] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00000697 [ 43] 0x00007f44c0d2f882 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01448066 [ 44] 0x00007f44c0dba4b0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02016432 [ 45] 0x00007f44c10c3874 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00338036 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArraytagiS2+00000244 [ 46] 0x00007f44c0dbb031 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02019377 [ 47] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486 [ 48] 0x00007f44c01a61d0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02318800 [ 49] 0x00007f44c01a81ea /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327018 [ 50] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175 [ 51] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247 [ 52] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404 [ 53] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427 [ 54] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00000697 [ 55] 0x00007f44c0d2f882 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01448066 [ 56] 0x00007f44c0dba4b0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02016432 [ 57] 0x00007f44c10c3874 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00338036 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArraytagiS2+00000244 [ 58] 0x00007f44c0dbb031 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02019377 [ 59] 0x00007f44c01d0360 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02491232 [ 60] 0x00007f44c01cf329 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02487081 [ 61] 0x00007f44c0144456 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+01918038 inCallFcnWithTrap+00000086 [ 62] 0x00007f44c019c2ab /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02278059 [ 63] 0x00007f44c0145b72 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+01923954 _Z28inCallFcnWithTrapInDesiredWSiPP11mxArray_tagiS1_PKcbP15inWorkSpace_tag+00000098 [ 64] 0x00007f44c0178b3c /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02132796 inMexCallMATLAB+00000204 [ 65] 0x00007f44c0152789 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+01976201 [ 66] 0x00007f44c0179673 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02135667 inMexCallMATLABWithTrap+00000067 [ 67] 0x00007f4406c08ddd /home/npiccinelli/tesi/drake-distro/drake/systems/DCSFunction.mexa64+00007645 _Z17mexCallMATLABsafeP13SimStruct_tagiPP11mxArray_tagiS3_PKc+00000077 [ 68] 0x00007f4406c099c5 /home/npiccinelli/tesi/drake-distro/drake/systems/DCSFunction.mexa64+00010693 [ 69] 0x00007f4406c0d31e /home/npiccinelli/tesi/drake-distro/drake/systems/DCSFunction.mexa64+00025374 mexFunction+00000478 [ 70] 0x00007f44c1d1d72a /usr/local/MATLAB/R2014a/bin/glnxa64/libmex.so+00120618 mexRunMexFile+00000090 [ 71] 0x00007f44c1d19a94 /usr/local/MATLAB/R2014a/bin/glnxa64/libmex.so+00105108 [ 72] 0x00007f44c1d1afb4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmex.so+00110516 [ 73] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00000697 [ 74] 0x00007f44c10edc03 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00510979 _Z17mdDoMatlabFcnCalliPP11mxArray_tagiPPKS_P13Mfh_MATLAB_fn9mpLmgrUse+00000131 [ 75] 0x00007f444d04cf11 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsl_services.so+00536337 _ZN25CMatlabCommandNoWatermark7executeEb11mxErrorMode+00000049 [ 76] 0x00007f444f77e03d /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+17936445 [ 77] 0x00007f444fc82f5b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+23199579 [ 78] 0x00007f444fc49e8e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+22965902 [ 79] 0x00007f444fa96d6f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+21183855 [ 80] 0x00007f444f4c3ccc /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+15076556 [ 81] 0x00007f444f5c25f7 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+16119287 [ 82] 0x00007f444fccf4c5 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+23512261 [ 83] 0x00007f444902f65b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsl_solver.so+00411227 _ZN9sl_solver9SimStepVS4stepEv+00000491 [ 84] 0x00007f444fccd93c /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+23505212 [ 85] 0x00007f444f4f3636 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+15271478 [ 86] 0x00007f444f4f450d /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+15275277 [ 87] 0x00007f444f38cca9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwsimulink.so+13802665 [ 88] 0x00007f44c10d6de3 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00417251 [ 89] 0x00007f44c10c3874 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00338036 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArraytagiS2+00000244 [ 90] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486 [ 91] 0x00007f44c01a61d0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02318800 [ 92] 0x00007f44c01a81ea /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327018 [ 93] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175 [ 94] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247 [ 95] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404 [ 96] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427 [ 97] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00000697 [ 98] 0x00007f44c0d4c6e8 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01566440 [ 99] 0x00007f44c0cf6a02 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01214978 [100] 0x00007f44c0cf838e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01221518 [101] 0x00007f44c0cfae50 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01232464 [102] 0x00007f44c0cf8873 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01222771 [103] 0x00007f44c0d4f62f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01578543 [104] 0x00007f44c01510e8 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+01970408 inFullFevalFcn+00000232 [105] 0x00007f44c10d6de3 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00417251 [106] 0x00007f44c10c3874 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00338036 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArraytagiS2+00000244 [107] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486 [108] 0x00007f44c01a61d0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02318800 [109] 0x00007f44c01a81ea /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327018 [110] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175 [111] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247 [112] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404 [113] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427 [114] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00000697 [115] 0x00007f44c0d2f882 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+01448066 [116] 0x00007f44c0dba4b0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02016432 [117] 0x00007f44c10c3874 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00338036 _ZN13Mfh_MATLAB_fn11dispatch_fhEiPP11mxArraytagiS2+00000244 [118] 0x00007f44c0dbb031 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwmcos.so+02019377 [119] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486 [120] 0x00007f44c01a61d0 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02318800 [121] 0x00007f44c01a81ea /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02327018 [122] 0x00007f44c01ab167 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02339175 [123] 0x00007f44c01a926f /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02331247 [124] 0x00007f44c01a9ec4 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02334404 [125] 0x00007f44c020730b /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02716427 [126] 0x00007f44c1114ad9 /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_dispatcher.so+00670425 _ZN8Mfh_file11dispatch_fhEiPP11mxArraytagiS2+00000697 [127] 0x00007f44c01eb20e /usr/local/MATLAB/R2014a/bin/glnxa64/libmwm_interpreter.so+02601486

This error was detected while a MEX-file was running. If the MEX-file is not an official MathWorks function, please examine its source code for errors. Please consult the External Interfaces Guide for information on debugging MEX-files.

If this problem is reproducible, please submit a Service Request via: http://www.mathworks.com/support/contact_us/

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nicolapiccinelli commented 9 years ago

That's the output of pathlcp error:

Warning: Contact is not supported by the dynamics methods of this class.  Consider using TimeSteppingRigidBodyManipulator or HybridPlanarRigidBodyManipulator 
> In RigidBodyManipulator.RigidBodyManipulator>RigidBodyManipulator.compile at 800
  In Loop at 38
  In LoopRun at 26 
Warning: t=3.646: missed 2 constraints.  resolving lcp. 
> In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.solveLCP at 489
  In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.update at 158
  In FeedbackSystem>FeedbackSystem.update at 67
  In DynamicalSystem.simulate at 96
  In DrakeSystem.DrakeSystem>DrakeSystem.simulate at 488
  In Loop at 60
  In LoopRun at 26 
Warning: t=3.646: missed 2 constraints.  resolving lcp. 
> In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.solveLCP at 489
  In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.update at 158
  In FeedbackSystem>FeedbackSystem.update at 67
  In DynamicalSystem.simulate at 96
  In DrakeSystem.DrakeSystem>DrakeSystem.simulate at 488
  In Loop at 60
  In LoopRun at 26 
Warning: t=3.647: missed 5 constraints.  resolving lcp. 
> In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.solveLCP at 489
  In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.update at 158
  In FeedbackSystem>FeedbackSystem.update at 67
  In DynamicalSystem.simulate at 96
  In DrakeSystem.DrakeSystem>DrakeSystem.simulate at 488
  In Loop at 60
  In LoopRun at 26 
Warning: t=3.647: missed 1 constraints.  resolving lcp. 
> In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.solveLCP at 489
  In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.update at 158
  In FeedbackSystem>FeedbackSystem.update at 67
  In DynamicalSystem.simulate at 96
  In DrakeSystem.DrakeSystem>DrakeSystem.simulate at 488
  In Loop at 60
  In LoopRun at 26 
DrakeSystem S-Function: error when calling ''update'' with the following arguments:
  FeedbackSystem with properties:

               sys1: [1x1 TimeSteppingRigidBodyManipulator]
               sys2: [1x1 WalkerController]
            sys1ind: [14x1 double]
            sys2ind: [0x1 double]
               umin: [3x1 double]
               umax: [3x1 double]
    warning_manager: [1x1 WarningManager]

    3.6480

   1.0e+09 *

   -0.0019
    0.0033
   -0.0000
    0.0075
   -0.0000
   -0.0082
   -0.0000
   -1.8532
    3.2587
   -0.0000
    7.4976
    0.0000
   -8.2195
   -0.0000

     0
     0
     0

Error using lcppath
Solution not finite.

Error in pathlcp (line 158)
[status, ttime] = lcppath(n+m, nnzJ, z, l, u, M, q);

Error in TimeSteppingRigidBodyManipulator/solveLCP (line 478)
            z(active) = pathlcp(M(active,active),w(active));

Error in TimeSteppingRigidBodyManipulator/update (line 158)
        [obj,z,Mqdn,wqdn] = solveLCP(obj,t,x,u);

Error in FeedbackSystem/update (line 67)
      if (obj.sys1.getNumDiscStates()) xdn=[xdn;update(obj.sys1,t,x1,sat1(obj,y2+u))]; end

Error in DynamicalSystem/simulate (line 96)
simout = sim(mdl,pstruct);

Error in DrakeSystem/simulate (line 488)
        [varargout{:}] = simulate@DynamicalSystem(obj,varargin{:});

Error in Loop (line 60)
            [xtraj, ~, ~] = simulate(sys,[0 8.0],ci);

Error in LoopRun (line 26)
        [status,counter,increment_e] = Loop(counter + 1,increment_e + delta_e);
Error during simulation loop: 4.Warning: Contact is not supported by the dynamics methods of this class.  Consider using TimeSteppingRigidBodyManipulator or HybridPlanarRigidBodyManipulator 
> In RigidBodyManipulator.RigidBodyManipulator>RigidBodyManipulator.compile at 800
  In Loop at 38
  In LoopRun at 26
RussTedrake commented 9 years ago

Your state variables are 1e9. The system has gone unstable, so pathlcp should not really be expected to find a good solution. We should probably stop the simulation earlier (before things fail), but something has gone very wrong with your robot/controller to get you here.

On Jan 15, 2015, at 4:20 PM, nicolapiccinelli notifications@github.com wrote:

That's the output of pathlcp error:

Warning: Contact is not supported by the dynamics methods of this class. Consider using TimeSteppingRigidBodyManipulator or HybridPlanarRigidBodyManipulator

In RigidBodyManipulator.RigidBodyManipulator>RigidBodyManipulator.compile at 800 In Loop at 38 In LoopRun at 26 Warning: t=3.646: missed 2 constraints. resolving lcp. In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.solveLCP at 489 In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.update at 158 In FeedbackSystem>FeedbackSystem.update at 67 In DynamicalSystem.simulate at 96 In DrakeSystem.DrakeSystem>DrakeSystem.simulate at 488 In Loop at 60 In LoopRun at 26 Warning: t=3.646: missed 2 constraints. resolving lcp. In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.solveLCP at 489 In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.update at 158 In FeedbackSystem>FeedbackSystem.update at 67 In DynamicalSystem.simulate at 96 In DrakeSystem.DrakeSystem>DrakeSystem.simulate at 488 In Loop at 60 In LoopRun at 26 Warning: t=3.647: missed 5 constraints. resolving lcp. In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.solveLCP at 489 In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.update at 158 In FeedbackSystem>FeedbackSystem.update at 67 In DynamicalSystem.simulate at 96 In DrakeSystem.DrakeSystem>DrakeSystem.simulate at 488 In Loop at 60 In LoopRun at 26 Warning: t=3.647: missed 1 constraints. resolving lcp. In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.solveLCP at 489 In TimeSteppingRigidBodyManipulator>TimeSteppingRigidBodyManipulator.update at 158 In FeedbackSystem>FeedbackSystem.update at 67 In DynamicalSystem.simulate at 96 In DrakeSystem.DrakeSystem>DrakeSystem.simulate at 488 In Loop at 60 In LoopRun at 26 DrakeSystem S-Function: error when calling ''update'' with the following arguments: FeedbackSystem with properties:

           sys1: [1x1 TimeSteppingRigidBodyManipulator]
           sys2: [1x1 WalkerController]
        sys1ind: [14x1 double]
        sys2ind: [0x1 double]
           umin: [3x1 double]
           umax: [3x1 double]
warning_manager: [1x1 WarningManager]

3.6480

1.0e+09 *

-0.0019 0.0033 -0.0000 0.0075 -0.0000 -0.0082 -0.0000 -1.8532 3.2587 -0.0000 7.4976 0.0000 -8.2195 -0.0000

 0
 0
 0

Error using lcppath Solution not finite.

Error in pathlcp (line 158) [status, ttime] = lcppath(n+m, nnzJ, z, l, u, M, q);

Error in TimeSteppingRigidBodyManipulator/solveLCP (line 478) z(active) = pathlcp(M(active,active),w(active));

Error in TimeSteppingRigidBodyManipulator/update (line 158) [obj,z,Mqdn,wqdn] = solveLCP(obj,t,x,u);

Error in FeedbackSystem/update (line 67) if (obj.sys1.getNumDiscStates()) xdn=[xdn;update(obj.sys1,t,x1,sat1(obj,y2+u))]; end

Error in DynamicalSystem/simulate (line 96) simout = sim(mdl,pstruct);

Error in DrakeSystem/simulate (line 488) [varargout{:}] = simulate@DynamicalSystem(obj,varargin{:});

Error in Loop (line 60) [xtraj, ~, ~] = simulate(sys,[0 8.0],ci);

Error in LoopRun (line 26) [status,counter,increment_e] = Loop(counter + 1,increment_e + delta_e); Error during simulation loop: 4.Warning: Contact is not supported by the dynamics methods of this class. Consider using TimeSteppingRigidBodyManipulator or HybridPlanarRigidBodyManipulator

In RigidBodyManipulator.RigidBodyManipulator>RigidBodyManipulator.compile at 800 In Loop at 38 In LoopRun at 26 — Reply to this email directly or view it on GitHub.

nicolapiccinelli commented 9 years ago

Yes i know, i'm exploring some limit robot configuration and i don't have any saturation on the output of the controller, my mistake :). But probably stop the simulation earlier it's a good thing for be able to do batch simulations without supervision or something else...

Obviously, it's primary a my imprudence on the controller design.

RussTedrake commented 9 years ago

will close this one (the big debug spew is complicated my issue parsing on the build servers).