search

dojo-sim / Dojo.jl

A differentiable physics engine for robotics
MIT License
294 stars 25 forks source link

Updated the gain and simulation time #59

Closed mfogelson closed 1 year ago

mfogelson commented 1 year ago

The P gain and the simulation time needed to be increased to match the desired performance.

NOTE: The simulations outputs NAN values for mu

storage = simulate!(mechanism, 20.0, controller!,
    record=true,
    verbose=true);
n    bvio    rvio     α       μ     |res|∞   |Δ|∞
–––––––––––––––––––––––––––––––––––––––––––––––––
1    0e+0    1e-1    1e+0    0e+0    1e-1    1e-1
2    0e+0    1e-11    1e+0    NaN     1e-11    1e-11
codecov-commenter commented 1 year ago

Codecov Report

Merging #59 (43da7ff) into main (2b98c76) will decrease coverage by 0.02%. The diff coverage is n/a.

@@            Coverage Diff             @@
##             main      #59      +/-   ##
==========================================
- Coverage   87.67%   87.65%   -0.03%     
==========================================
  Files          94       94              
  Lines        4966     4966              
==========================================
- Hits         4354     4353       -1     
- Misses        612      613       +1
Impacted Files Coverage Δ
src/solver/line_search.jl 95.55% <0.00%> (-1.12%) :arrow_down:

Continue to review full report at Codecov.

Legend - Click here to learn more Δ = absolute <relative> (impact), ø = not affected, ? = missing data Powered by Codecov. Last update 2b98c76...43da7ff. Read the comment docs.