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rohanpsingh / mc_mujoco

MuJoCo interface for mc-rtc
https://arxiv.org/abs/2209.00274
BSD 2-Clause "Simplified" License
77 stars 18 forks source link

Possible bug? #19

Closed rohanpsingh closed 2 years ago

rohanpsingh commented 2 years ago

After "[error] QP failed to run()" has happened, reset function does not work as expected.
If we pause (using "step-by-step" button) and resume, the robot will fly away! The reset will begin to work normally after this.

I didn't look into this at all... yet.

The video is using HRP-5P with CoM controller.

https://drive.google.com/file/d/1KlcByJSWUURXo8I7rive_7rQkQxjr4j-/view?usp=sharing

gergondet commented 2 years ago

Hi @rohanpsingh

Thanks for reporting this. I believe it is fixed by the above commit.

rohanpsingh commented 2 years ago

Wow, thanks a lot! Sorry I didn't find the time to investigate it further.