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Space Robotics Challenge
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Clarification on Error #118

Closed osrf-migration closed 7 years ago

osrf-migration commented 7 years ago

Original report (archived issue) by Anonymous.

I receive this issue when attempting to push Valkyrie into the limits of human like gait. My problem is that Valkyrie will be walking exactly the way it should be for a few steps after issuing a message and then once this message pops up Valkyrie will perform very erratic behavior:

#!

[ERROR] [1490986885.029449831, 33.821000000]: us.ihmc.tools.exceptions.NoConvergenceException
[ERROR] [1490986885.029600930, 33.821000000]:   at us.ihmc.commonWalkingControlModules.momentumBasedController.optimization.InverseDynamicsQPSolver.solve(InverseDynamicsQPSolver.java:341)
[ERROR] [1490986885.029678923, 33.821000000]:   at us.ihmc.commonWalkingControlModules.momentumBasedController.optimization.InverseDynamicsOptimizationControlModule.compute(InverseDynamicsOptimizationControlModule.java:164)
[ERROR] [1490986885.029736305, 33.821000000]:   at us.ihmc.commonWalkingControlModules.controllerCore.WholeBodyInverseDynamicsSolver.compute(WholeBodyInverseDynamicsSolver.java:137)
[ERROR] [1490986885.029798156, 33.821000000]:   at us.ihmc.commonWalkingControlModules.controllerCore.WholeBodyControllerCore.doInverseDynamics(WholeBodyControllerCore.java:215)
[ERROR] [1490986885.029856819, 33.821000000]:   at us.ihmc.commonWalkingControlModules.controllerCore.WholeBodyControllerCore.compute(WholeBodyControllerCore.java:179)
[ERROR] [1490986885.029928162, 33.821000000]:   at us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.HighLevelHumanoidControllerManager.doControl(HighLevelHumanoidControllerManager.java:183)
[ERROR] [1490986885.029979439, 33.821000000]:   at us.ihmc.robotics.robotController.ModularRobotController.doControl(ModularRobotController.java:20)
[ERROR] [1490986885.030023633, 33.821000000]:   at us.ihmc.wholeBodyController.DRCControllerThread.run(DRCControllerThread.java:352)
[ERROR] [1490986885.030088546, 33.821000000]:   at us.ihmc.wholeBodyController.concurrent.SynchronousMultiThreadedRobotController$ReentrantLockedControlElementRunner.run(SynchronousMultiThreadedRobotController.java:89)
[ERROR] [1490986885.030148750, 33.821000000]:   at java.lang.Thread.run(Thread.java:745)

These behaviors include kicking out spontaneously instead of performing a step and occasionally not lifting its foot to desired height set by swing height. My question is what is the source of this error? I'm assuming that it is due to performance issues of my system because this issue only occurs when Valkyrie is attempting to walk the way I'm making it do. Though I'm not really sure. Any help on this would be much appreciated.

osrf-migration commented 7 years ago

Original comment by Tom Tseemceeb Xiong (Bitbucket: Tom_Xiong).

Sorry this was me again. My account keeps getting auto logged out even though it normally didn't log me out before.

osrf-migration commented 7 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

I'm not sure what that error means. You could check the IHMC issue tracker and try posting there if you don't see any related issues:

osrf-migration commented 7 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

osrf-migration commented 7 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

Oh just saw this issue, I've been recently seeing this error when reharnessing, and ticketed issue #183

osrf-migration commented 7 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

The error is coming from the controller, please ask the question here:

https://github.com/ihmcrobotics/ihmc-open-robotics-software/