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dojo-sim / Dojo.jl

A differentiable physics engine for robotics
MIT License
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SingularException, ldu_factorization_acyclic error (StaticArrays 1.4.4) #72

Closed shoeychi closed 7 months ago

shoeychi commented 1 year ago

ERROR: LoadError: SingularException(5) Stacktrace: [1] macro expansion @ ~/.julia/packages/StaticArrays/58yy1/src/lu.jl:86 [inlined] [2] _lu @ ~/.julia/packages/StaticArrays/58yy1/src/lu.jl:75 [inlined] [3] #lu#500 @ ~/.julia/packages/StaticArrays/58yy1/src/lu.jl:48 [inlined] [4] #lu#507 @ ~/.julia/packages/StaticArrays/58yy1/src/lu.jl:52 [inlined] [5] lu @ ~/.julia/packages/StaticArrays/58yy1/src/lu.jl:52 [inlined] [6] macro expansion @ ~/.julia/packages/StaticArrays/58yy1/src/inv.jl:79 [inlined] [7] _inv @ ~/.julia/packages/StaticArrays/58yy1/src/inv.jl:74 [inlined] [8] inv @ ~/.julia/packages/StaticArrays/58yy1/src/inv.jl:5 [inlined] [9] ldu_factorization_acyclic!(diagonal_v::Dojo.Entry{SMatrix{6, 6, Float64, 36}}, offdiagonal_l::Dojo.Entry{SMatrix{6, 5, Float64, 30}}, diagonal_c::Dojo.Entry{SMatrix{5, 5, Float64, 25}}, offdiagonal_u::Dojo.Entry{SMatrix{5, 6, Float64, 30}}, diagonal_inverse_c::Dojo.Entry{SMatrix{5, 5, Float64, 25}}) @ Dojo ~/.julia/packages/Dojo/D5fhl/src/graph/ldu_factorization.jl:6 [10] ldu_factorization!(system::Dojo.System{30}) @ Dojo ~/.julia/packages/Dojo/D5fhl/src/graph/ldu_factorization.jl:38 [11] mehrotra!(mechanism::Mechanism{Float64, 30, 13, 13, 4}; opts::SolverOptions{Float64}) @ Dojo ~/.julia/packages/Dojo/D5fhl/src/solver/mehrotra.jl:36 [12] simulate!(mechanism::Mechanism{Float64, 30, 13, 13, 4}, steps::Base.OneTo{Int64}, storage::Storage{Float64, 500}, control!::typeof(ctrl!); record::Bool, verbose::Bool, abort_upon_failure::Bool, opts::SolverOptions{Float64}) @ Dojo ~/.julia/packages/Dojo/D5fhl/src/simulation/simulate.jl:28 [13] simulate!(mechanism::Mechanism{Float64, 30, 13, 13, 4}, tend::Float64, args::Function; record::Bool, verbose::Bool, abort_upon_failure::Bool, opts::SolverOptions{Float64}) @ Dojo ~/.julia/packages/Dojo/D5fhl/src/simulation/simulate.jl:46 [14] top-level scope @ /dojo/examples/trajectory_optimization/quadruped_standing_gait.jl:288

janbruedigam commented 1 year ago

Thanks for reporting! Could you give an example where that error occurs? Sometimes this happens when angular velocities become too large in the simulation, but might also be a bug.