Comments (3)
hammoudbilal
commented on July 21, 2024
the bug was here, contactModel.computeContactForce() was changing the active status after constructing the matrices, resulting in zero elements in some case, problem solved by commenting the line. another option would be changing the status and reducing the number of active contacts. Maybe leave it open for now to see it brings any accuracy/speedup improvements later ?
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andreadelprete
commented on July 21, 2024
Sorry I introduced this bug. Indeed I had some doubts it was correct to do that because the activation/deactivation of contacts should only occur at the collision-checking phase. I think it's better to leave it as you did. So now you get same results with python and c++ simulator for quadrupedal trotting?
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hammoudbilal
commented on July 21, 2024
yes everything works fine now,
I will leave the printing at contact each switch in the code for now and close this issue
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Related Issues (20)
- First benchmark Exponential vs Euler HOT 9
- Bug in exponential integrator without double integral HOT 5
- Results with seldom updates of matrix exponential HOT 2
- gcc internal error segmentation fault
- Reset of contact state HOT 4
- New method for friction cone constraints HOT 1
- Sanity check: Sliding point mass HOT 3
- Integration accuracy without contacts HOT 7
- Accuracy of the Euler integration HOT 4
- Potential influcence of the cone projection HOT 2
- ExponentialSimulator accuracy with nonzero impact velocity HOT 5
- EulerSimulator discontinuity in friction force during sliding HOT 2
- Quadruped Trot Results HOT 7
- Quadruped Jump Results HOT 3
- Romeo walking Results HOT 4
- Quadruped Squat Results
- missing reference trajectory HOT 1
- few issues with HalfPlane HOT 2
- Exponential VS Rigid-contacts HOT 9
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