mjc_example fails on second iteration

cbfinn / gps

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Closed wmontgomery4 closed 8 years ago

wmontgomery4 commented 8 years ago

When running the peg insertion mjc_example, the trajectory optimizer fails on the second step because it cannot regularize with very large eta:

ValueError: Failed to find PD solution even for very large eta (check that dynamics and cost are reasonably well conditioned)!

The issue seems to be condition 3, which actually increases cost in the first update:

cbfinn commented 8 years ago

I just pushed a change to the master branch that should fix this issue.

wmontgomery4 commented 8 years ago

Thanks! It's working now.

Tveek commented 8 years ago

@wmontgomery4 @cbfinn how can you set up the MuJoCo? I can not down it .can you give me some help? are you using Windows or Linux?

wmontgomery4 commented 8 years ago

@DemoRunner I'm working on Linux, but Mujoco is proprietary software that you need a license to use.