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cmm-21 / a2

Assignment 2 - Kinematic walking controller
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Ex 2-2 not converging #38

Closed swellsc closed 3 years ago

swellsc commented 3 years ago

Hi, I am having issues with ex. 2-2 and I cannot manage to pinpoint where the issue is arising from. The robot trajectory is diverging as is shown in the following image. I am using Gauss-Newton method and inverting using ldlt().solve() and have followed all the advice found here on github issues. Screenshot 2021-04-01 at 14 28 28 I have tried adding a regularizer to the method and the trajectory first diverges as above and after some steps converges to the desired end-effector trajectory, but with a different joint configuration than desired, with the knees backwards: Screenshot 2021-04-01 at 16 33 27 I am wondering if anyone has had any similar issue and, above everything, where the issue might be coming from, as I have checked everything again and again and cannot find what is wrong in my code. Any help is appreciated! Thanks a lot!

eastskykang commented 3 years ago

If your Gauss-Newton as well as Jacobian implementation are correct, it should be stable enough. It's a bit suspicious that it becomes unstable as soon as you play the app.

Again, trajectory is not an issue here. The problem arises from either IK or Jacobian.

swellsc commented 3 years ago

Indeed there was a small issue in my IK implementation that I just solved. Thank you!

Now it is stable and does not need a regularizer. However, the frame rate I get is about 10 fps. Is this expected? Or is there still some efficiency or other issue I should solve in my code?

eastskykang commented 3 years ago

@swellsc please see the issue #4 and change your cmake mode into Release. If it's already in Release mode, it might be related to resolution of your display. (if it's too high, frame rate could be low) If that's the case, please lower the resolution settings of your display and try it again.

swellsc commented 3 years ago

Changing cmake mode to Release solved it. All works smoothly now, thanks for all your help!