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http://rll.berkeley.edu/gps/
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leading minor of the array is not positive definite #116

Closed jhshen95 closed 4 years ago

jhshen95 commented 4 years ago

When I run "python python/gps/gps_main.py mjc_badmm_example", there is an error below:

Traceback (most recent call last): File "python/gps/gps_main.py", line 78, in run self._take_iteration(itr, traj_sample_lists) File "python/gps/gps_main.py", line 213, in _take_iteration self.algorithm.iteration(sample_lists) File "python/gps/algorithm/algorithm_badmm.py", line 68, in iteration self._update_trajectories() File "python/gps/algorithm/algorithm.py", line 127, in _update_trajectories self.traj_opt.update(cond, self) File "python/gps/algorithm/traj_opt/traj_opt_lqr_python.py", line 78, in update eta, algorithm, m) File "python/gps/algorithm/traj_opt/traj_opt_lqr_python.py", line 380, in backward traj_distr.pol_covar[t, :, :] File "/home/sjh/anaconda3/envs/GuidedPS/lib/python2.7/site-packages/scipy/linalg/decomp_cholesky.py", line 91, in cholesky check_finite=check_finite) File "/home/sjh/anaconda3/envs/GuidedPS/lib/python2.7/site-packages/scipy/linalg/decomp_cholesky.py", line 40, in _cholesky "definite" % info) LinAlgError: 7-th leading minor of the array is not positive definite

And this error is deterministic. How can I solve this problem?