Closed wmontgomery4 closed 8 years ago
I just pushed a change to the master branch that should fix this issue.
Thanks! It's working now.
@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?
@DemoRunner I'm working on Linux, but Mujoco is proprietary software that you need a license to use.
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:![image](https://cloud.githubusercontent.com/assets/1236981/13542781/20c5cc5a-e21a-11e5-8800-fd81de78d745.png)