#####################################################
#####################################################
################# MPC is reset. ###################
#####################################################
#####################################################
terminate called after throwing an instance of 'std::runtime_error'
what(): [SqpSolver] Failed to solve QP
[humanoid_sqp_mpc-3] process has died [pid 9654, exit code -6, cmd /home/zyj/catkin_ws_wbc/devel/lib/humanoid_dummy/humanoid_sqp_mpc name:=humanoid_sqp_mpc log:=/home/zyj/.ros/log/b0159f8a-3f53-11ef-8186-ef621eb71d3f/humanoid_sqp_mpc-3.log].
log file: /home/zyj/.ros/log/b0159f8a-3f53-11ef-8186-ef621eb71d3f/humanoid_sqp_mpc-3*.log
^C[rviz-2] killing on exit
QFileSystemWatcher::removePaths: list is empty
QFileSystemWatcher::removePaths: list is empty
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
SelfCollision: Testing for 1 collision pairs
[Debug3-5.29-zyj]
Optimal control problem set up completed.
Loading initial state...24
Initial state loaded.
[ INFO] [1720681978.315599767]: MRT node is setting up ...
[ INFO] [1720681978.320035772]: Publishing MRT messages on a separate thread.
[ INFO] [1720681978.320084310]: MRT node is ready.
centroidalModelInfo_.numThreeDofContacts: 4
[ WARN] [1720681978.327068114]: MPC loop is not realtime! For realtime setting, set mpcDesiredFrequency to any negative number.
[ INFO] [1720681978.327114659]: Waiting for the initial policy ...
[ INFO] [1720681978.333980352]: MPC node has been reset.
大佬您好,我在替换模型的过程中发现机器人行走时双足会发生自碰撞的现象,参考OCS2库的其他example后,我在task.info文件中对Self Collision pairs进行修改,修改为: ; Self Collision pairs collisionLinkPairs { [0] "left_leg_l6, right_leg_l6" }
之后运行legged_robot_sqp.launch文件报错。
##################################################### ##################################################### ################# MPC is reset. ################### ##################################################### ##################################################### terminate called after throwing an instance of 'std::runtime_error' what(): [SqpSolver] Failed to solve QP [humanoid_sqp_mpc-3] process has died [pid 9654, exit code -6, cmd /home/zyj/catkin_ws_wbc/devel/lib/humanoid_dummy/humanoid_sqp_mpc name:=humanoid_sqp_mpc log:=/home/zyj/.ros/log/b0159f8a-3f53-11ef-8186-ef621eb71d3f/humanoid_sqp_mpc-3.log]. log file: /home/zyj/.ros/log/b0159f8a-3f53-11ef-8186-ef621eb71d3f/humanoid_sqp_mpc-3*.log ^C[rviz-2] killing on exit QFileSystemWatcher::removePaths: list is empty QFileSystemWatcher::removePaths: list is empty [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
SelfCollision Settings:
=============================================================================
'mu'..................................................................0.01
'delta'..............................................................0.001
'minimumDistance'.....................................................0.02
'selfCollision.collisionObjectPairs': { }
'selfCollision.collisionLinkPairs': {[left_leg_l6, right_leg_l6]}
=============================================================================
SelfCollision: Testing for 1 collision pairs [Debug3-5.29-zyj] Optimal control problem set up completed. Loading initial state...24 Initial state loaded. [ INFO] [1720681978.315599767]: MRT node is setting up ... [ INFO] [1720681978.320035772]: Publishing MRT messages on a separate thread. [ INFO] [1720681978.320084310]: MRT node is ready. centroidalModelInfo_.numThreeDofContacts: 4 [ WARN] [1720681978.327068114]: MPC loop is not realtime! For realtime setting, set mpcDesiredFrequency to any negative number. [ INFO] [1720681978.327114659]: Waiting for the initial policy ... [ INFO] [1720681978.333980352]: MPC node has been reset.
想知道如何正确设定,避免机器人双足在行走过程中的自碰撞现象呢,谢谢大佬!