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pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
https://ruckig.com
MIT License
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Understanding ErrorExecutionTimeCalculation (-110) errors #19

Closed isherman closed 3 years ago

isherman commented 3 years ago

I'm using Ruckig in a 6-DOF visual servoing application, updating input.target_position at a rate similar to the control cycle. I find that often when setpoints (updates to target_position) are quite close to each other, Ruckig will return a -110 status. Can you help me understand what causes this error? Are there any workarounds you'd suggest? Thank you.

pantor commented 3 years ago

Hi @isherman, this is an internal error of Ruckig. Can you share your InputParameter for a typical failing case?

pantor commented 3 years ago

By the way, you can print the current input parameters (and let ruckig throw on errors) by using Ruckig<DoFs, true>.

isherman commented 3 years ago

By the way, you can print the current input parameters (and let ruckig throw on errors) by using Ruckig<DoFs, true>.

Great tip, thanks!

terminate called after throwing an instance of 'std::runtime_error'
  what():  [ruckig] error in step 1, dof: 4 input:
inp.current_position = [-0.843763019702056, -1.26164314329262, 1.62592703780797, -1.26322670514057, -0.900133529360832, 1.09819107359504]
inp.current_velocity = [-0.0303436943534115, 0.0371785718477563, -0.0294029319779939, -0.0129669308625882, -0.030242580748223, 0.00636710830722948]
inp.current_acceleration = [0.0941203950600968, -0.152313813731685, 0.134100351460333, 0.0630571844324987, 0.0116214644247746, -0.0622068786789912]
inp.target_position = [-0.847254234340315, -1.25777615061367, 1.62279392916203, -1.26518389118862, -0.90368278625599, 1.09921788488865]
inp.target_velocity = [0, 0, 0, 0, 0, 0]
inp.target_acceleration = [0, 0, 0, 0, 0, 0]
inp.max_velocity = [1.30899693899575, 0.98174770424681, 1.43989663289532, 1.5707963267949, 1.5707963267949, 1.88931891528386]
inp.max_acceleration = [4, 4, 4, 4, 4, 4]
inp.max_jerk = [2, 2, 2, 2, 2, 2]
AndreRigi commented 3 years ago

My issue #20 seems to be related to this. Here is my runtime_error:

terminate called after throwing an instance of 'std::runtime_error'
  what():  [ruckig] error in step 1, dof: 2 input: 
inp.current_position = [0, 0, 19.7358068624528]
inp.current_velocity = [0, 0, 0.397522631063786]
inp.current_acceleration = [0, 0, -0.398759391645531]
inp.target_position = [0.312597038921652, 5.46143591026349, 20]
inp.target_velocity = [0, 0, 0]
inp.target_acceleration = [0, 0, 0]
inp.max_velocity = [3, 3, 3]
inp.max_acceleration = [0.5, 0.5, 0.5]
inp.max_jerk = [0.2, 0.2, 0.2]
pantor commented 3 years ago

The latest commit on the master branch should fix some errors (due to numerical issues), but it still needs more automated testing...

AndreRigi commented 3 years ago

In my particular case, I don't have the error anymore with the latest commit. I will keep you updated if I run into anything similar again.

isherman commented 3 years ago

Thanks for the help @pantor.

I am still getting similar errors at 1b06ce4937bd35773ba3b41c1ae5a6a4371cd888:

terminate called after throwing an instance of 'std::runtime_error'
  what():  [ruckig] error in step 1, dof: 5 input:
inp.current_position = [-0.8494117653618009, -1.254984898711493, 1.623547625912817, -1.264314589439878, -0.9070599831444599, 1.096081438096845]
inp.current_velocity = [-0.007588234821168835, 0.005538054540119678, 0.01208997929687014, 0.008184453287068091, -0.01307583605190736, -0.02330031757673159]
inp.current_acceleration = [0.01787718749228191, -0.03686086688015895, 0.121368265848752, 0.0901853690259044, 0.007706614114261729, -0.08989353127954892]
inp.target_position = [-0.8510605112929079, -1.253856391337919, 1.626531478684011, -1.262269584825345, -0.909530762083901, 1.092124618222708]
inp.target_velocity = [0, 0, 0, 0, 0, 0]
inp.target_acceleration = [0, 0, 0, 0, 0, 0]
inp.max_velocity = [1.308996938995747, 0.9817477042468103, 1.439896632895322, 1.570796326794897, 1.570796326794897, 1.889318915283862]
inp.max_acceleration = [4, 4, 4, 4, 4, 4]
inp.max_jerk = [2, 2, 2, 2, 2, 2]
AndreRigi commented 3 years ago

I don't know if it's still useful for you to get as many runtime_error logs as possible. I don't want to be spamming here.. In any case, I ran into this one today:

terminate called after throwing an instance of 'std::runtime_error'
  what():  [ruckig] error in step 1, dof: 2 input: 
inp.current_position = [0.002790767530717088, 0.00192073758242831, -6.010800000000007]
inp.current_velocity = [0.0007082281005476234, 0.0004861770142931825, -2.424000000000002]
inp.current_acceleration = [0, 0, -0.4799999999999994]
inp.target_position = [0, -0.007643113887548852, -28.25836181640625]
inp.target_velocity = [0, 0, 0]
inp.target_acceleration = [0, 0, 0]
inp.max_velocity = [3, 3, 3]
inp.max_acceleration = [0.5, 0.5, 0.5]
inp.max_jerk = [0.2, 0.2, 0.2]
pantor commented 3 years ago

With the latest commits, the situation due to numerical issues should improve. It is not perfect yet, so please report if you encounter any errors.

isherman commented 3 years ago

With the latest changes I've been running all day without a -110 error. Thank you! Feel free to close this issue, or keep it open for a few more days of hands-on testing if you'd prefer. 🙇