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RobotLocomotion / gcs-science-robotics

Motion Planning around Obstacles with Convex Optimization by Marcucci et al, 2023
BSD 3-Clause "New" or "Revised" License
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Trouble with Regenerate IRIS Regions for bimanual_iiwa_example.ipynb #9

Open Larkin-AP opened 1 month ago

Larkin-AP commented 1 month ago

Hello, I am having problems running bimanual_iiwa_example.ipynb in docker.

When Regenerate IRIS Regions is unmodified, errors are displayed on the system as follows: Failure at geometry/optimization/iris.cc:759 in IrisInconfigqurationspace(): condition 'p.PointInset(sample, le-12)’ failed.

As shown in the figure 1

In fact, only this seed throws the error, and the entire program fails to exit the thread pool properly.

I saw that seed_points were generated from getConfigurationSeeds. The positions in getConfiguration define the joint angles of the robotic arm at some positions. Are these configuration positions the end points of the target trajectory?

Look forward to your reply and thank you for your help!

Larkin-AP commented 1 month ago

hi! I tried to slightly modify the faulty seed to avoid this problem for the time being. However, the same Regions, when running the program often times out, occasionally can run successfully, may I ask why? Thank you very much for your answer!

RussTedrake commented 1 month ago

My apologies! We've made substantial improvements to the entire pipeline. I will try to port this example over to the latest Drake implementations in the next few days.