[Fix] getSurfacesFromGuide and continuous functions not adding the right surfaces to the sequence, as step_contacts and step_contacts_names are not in the same order. On two different runs, the functions return the lists in random orders.
Fix : find the surface associated to each intersection and reorder these lists.
Problem can be reproduced on the previous version : https://github.com/loco-3d/sl1m/blob/devel/sl1m/planner_scenarios/talos/stairs.py
set USE_MIP=False and add print("last 2 right foot pos : ",result.all_feet_pos[0][-2:]) at line 60.
Run test file two or three times ipython3 stairs.py, the foot positions printed should be the same, but it's not.
List of surfaces were not sorted. Problem with MIP for which the order of surfaces for each phase impacts the exploration (number of nodes explored, computation time).
[Fix] getSurfacesFromGuide and continuous functions not adding the right surfaces to the sequence, as step_contacts and step_contacts_names are not in the same order. On two different runs, the functions return the lists in random orders.
Fix : find the surface associated to each intersection and reorder these lists.
Problem can be reproduced on the previous version : https://github.com/loco-3d/sl1m/blob/devel/sl1m/planner_scenarios/talos/stairs.py set
USE_MIP=Falseand addprint("last 2 right foot pos : ",result.all_feet_pos[0][-2:])at line 60. Run test file two or three timesipython3 stairs.py, the foot positions printed should be the same, but it's not.This needs to be fixed in rbprm-corba. These two functions needs to return the intersections and the names of the corresponding surfaces in the same order : https://github.com/humanoid-path-planner/hpp-rbprm-corba/blob/3a39a6b3e5ffaebd19fc346144e52aa504cdcf88/src/rbprmbuilder.impl.cc#L1360 https://github.com/humanoid-path-planner/hpp-rbprm-corba/blob/3a39a6b3e5ffaebd19fc346144e52aa504cdcf88/src/rbprmbuilder.impl.cc#L1315
List of surfaces were not sorted. Problem with MIP for which the order of surfaces for each phase impacts the exploration (number of nodes explored, computation time).