diff --git a/examples/log/bipedal_walk_fwddyn.log b/examples/log/bipedal_walk_fwddyn.log index 6754fee939..847a94261b 100644 --- a/examples/log/bipedal_walk_fwddyn.log +++ b/examples/log/bipedal_walk_fwddyn.log @@ -15,9 +15,9 @@ iter cost stop grad xreg ureg step ||ffeas|| 11 4.343e+03 8.427e-02 1.685e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.427e-02 8.315e-02 12 4.343e+03 6.548e-04 1.310e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.548e-04 5.644e-04 13 4.343e+03 2.953e-05 5.906e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.953e-05 1.997e-05 - 14 4.343e+03 3.138e-06 6.276e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.138e-06 2.105e-06 - 15 4.343e+03 3.416e-07 6.832e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.416e-07 2.283e-07 - 16 4.343e+03 3.763e-08 7.525e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.763e-08 2.507e-08 + 14 4.343e+03 3.138e-06 6.276e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.138e-06 2.106e-06 + 15 4.343e+03 3.416e-07 6.833e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.416e-07 2.283e-07 + 16 4.343e+03 3.765e-08 7.530e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.765e-08 2.510e-08 *** SOLVE walking *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 4.692e+06 1.835e+07 3.664e+07 1.000e-09 1.000e-09 0.5000 2.143e-02 0.000e+00 0.000e+00 1.375e+07 1.367e+07 @@ -37,8 +37,8 @@ iter cost stop grad xreg ureg step ||ffeas|| 13 4.606e+03 9.207e-01 1.841e+00 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 6.905e-01 2.574e-01 14 4.606e+03 5.202e-01 1.040e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.202e-01 5.069e-01 15 4.606e+03 1.958e-02 3.916e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.958e-02 1.959e-02 - 16 4.606e+03 1.123e-06 2.245e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.123e-06 1.132e-06 - 17 4.606e+03 1.563e-08 3.125e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.563e-08 1.509e-08 + 16 4.606e+03 1.122e-06 2.245e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.122e-06 1.132e-06 + 17 4.606e+03 1.553e-08 3.106e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.553e-08 1.512e-08 *** SOLVE walking *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 4.671e+06 1.833e+07 3.661e+07 1.000e-09 1.000e-09 0.5000 9.993e-03 0.000e+00 0.000e+00 1.374e+07 1.367e+07 @@ -65,7 +65,7 @@ iter cost stop grad xreg ureg step ||ffeas|| iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 20 4.565e+03 8.537e-02 1.707e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.537e-02 8.537e-02 21 4.565e+03 3.690e-06 7.380e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.690e-06 3.664e-06 - 22 4.565e+03 4.762e-09 9.524e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.762e-09 3.913e-09 + 22 4.565e+03 4.664e-09 9.327e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.664e-09 3.923e-09 *** SOLVE walking *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 4.665e+06 1.832e+07 3.660e+07 1.000e-09 1.000e-09 0.5000 9.715e-03 0.000e+00 0.000e+00 1.374e+07 1.367e+07 @@ -83,7 +83,7 @@ iter cost stop grad xreg ureg step ||ffeas|| 11 4.661e+03 9.886e+00 1.977e+01 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 4.325e+00 3.076e+00 12 4.657e+03 9.231e+00 1.846e+01 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 4.038e+00 3.866e+00 13 4.654e+03 3.610e+00 7.220e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.610e+00 3.612e+00 - 14 4.653e+03 7.714e-02 1.543e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.714e-02 7.992e-02 + 14 4.653e+03 7.715e-02 1.543e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.715e-02 7.992e-02 15 4.653e+03 1.453e-02 2.906e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.453e-02 1.453e-02 16 4.653e+03 1.669e-05 3.338e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.669e-05 1.677e-05 - 17 4.653e+03 3.886e-08 7.772e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.886e-08 3.854e-08 + 17 4.653e+03 3.885e-08 7.771e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.885e-08 3.852e-08 diff --git a/examples/log/bipedal_walk_invdyn.log b/examples/log/bipedal_walk_invdyn.log index 5574c02a70..73c2f7325d 100644 --- a/examples/log/bipedal_walk_invdyn.log +++ b/examples/log/bipedal_walk_invdyn.log @@ -13,9 +13,9 @@ iter cost stop grad xreg ureg step ||ffeas|| iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 10 4.343e+03 4.121e-01 8.208e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.444e-03 4.121e-01 -2.555e-01 11 4.343e+03 6.326e-01 1.262e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.479e-03 6.326e-01 6.326e-01 - 12 4.343e+03 6.393e-05 1.255e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.750e-07 -6.393e-05 -6.403e-05 + 12 4.343e+03 6.393e-05 1.255e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.749e-07 -6.393e-05 -6.403e-05 13 4.343e+03 3.113e-06 3.168e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.282e-08 3.113e-06 3.131e-06 - 14 4.343e+03 4.473e-08 1.411e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.822e-09 4.473e-08 4.433e-08 + 14 4.343e+03 4.482e-08 1.413e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.822e-09 4.482e-08 4.431e-08 *** SOLVE walking *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 1.085e+05 1.835e+07 3.670e+07 1.000e-09 1.000e-09 1.0000 1.012e-02 0.000e+00 1.871e+02 1.835e+07 1.825e+07 @@ -44,7 +44,7 @@ iter cost stop grad xreg ureg step ||ffeas|| 21 4.606e+03 2.727e-01 5.454e-01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 2.465e-04 2.045e-01 2.035e-01 22 4.606e+03 6.891e-02 1.378e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.021e-04 6.891e-02 6.888e-02 23 4.606e+03 2.310e-05 5.727e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.547e-08 2.310e-05 2.309e-05 - 24 4.606e+03 1.442e-08 8.848e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.470e-11 -1.442e-08 -1.482e-08 + 24 4.606e+03 1.451e-08 8.671e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.477e-11 -1.451e-08 -1.486e-08 *** SOLVE walking *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 1.417e+05 1.833e+07 3.666e+07 1.000e-09 1.000e-09 1.0000 9.749e-03 0.000e+00 1.535e+02 1.833e+07 1.820e+07 @@ -69,7 +69,7 @@ iter cost stop grad xreg ureg step ||ffeas|| 18 4.565e+03 1.121e-01 2.242e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.418e-04 1.121e-01 1.121e-01 19 4.565e+03 3.326e-05 7.008e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.166e-08 3.326e-05 3.324e-05 iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV - 20 4.565e+03 2.984e-09 7.469e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.381e-11 -2.984e-09 -3.231e-09 + 20 4.565e+03 3.125e-09 7.185e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.374e-11 -3.125e-09 -3.329e-09 *** SOLVE walking *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 1.652e+05 1.832e+07 3.665e+07 1.000e-09 1.000e-09 1.0000 9.499e-03 0.000e+00 1.298e+02 1.832e+07 1.817e+07 @@ -87,5 +87,5 @@ iter cost stop grad xreg ureg step ||ffeas|| 11 4.657e+03 2.628e+01 5.256e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.821e-02 2.628e+01 2.264e+01 12 4.653e+03 3.815e+00 7.621e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 4.976e-04 3.815e+00 3.815e+00 13 4.653e+03 1.075e-03 1.973e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.850e-05 1.075e-03 1.077e-03 - 14 4.653e+03 8.817e-07 7.385e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.759e-09 -8.817e-07 -8.877e-07 - 15 4.653e+03 1.330e-09 5.424e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.964e-10 1.330e-09 1.402e-09 + 14 4.653e+03 8.817e-07 7.384e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.758e-09 -8.817e-07 -8.877e-07 + 15 4.653e+03 1.335e-09 5.440e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.966e-10 1.335e-09 1.372e-09 diff --git a/examples/log/bipedal_walk_ubound.log b/examples/log/bipedal_walk_ubound.log index 4e8606ab48..9c5d75a372 100644 --- a/examples/log/bipedal_walk_ubound.log +++ b/examples/log/bipedal_walk_ubound.log @@ -22,7 +22,7 @@ iter cost stop grad xreg ureg step ||ffeas|| 18 4.343e+03 4.042e-02 8.084e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.042e-02 4.041e-02 19 4.343e+03 9.543e-06 1.909e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.543e-06 9.395e-06 iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV - 20 4.343e+03 2.928e-08 5.855e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.928e-08 2.326e-08 + 20 4.343e+03 2.930e-08 5.859e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.930e-08 2.325e-08 *** SOLVE walking *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 4.667e+06 1.834e+07 3.661e+07 1.000e-01 1.000e-01 0.5000 2.146e-02 0.000e+00 0.000e+00 1.374e+07 1.369e+07 @@ -40,8 +40,8 @@ iter cost stop grad xreg ureg step ||ffeas|| 11 4.607e+03 1.045e+01 2.089e+01 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 1.045e+01 1.051e+01 12 4.607e+03 4.408e-01 8.815e-01 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 4.408e-01 3.532e-01 13 4.607e+03 8.600e-02 1.720e-01 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 8.600e-02 8.601e-02 - 14 4.607e+03 7.969e-07 1.594e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 7.969e-07 8.327e-07 - 15 4.607e+03 1.102e-08 2.204e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.102e-08 1.154e-08 + 14 4.607e+03 7.969e-07 1.594e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 7.969e-07 8.324e-07 + 15 4.607e+03 1.105e-08 2.209e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.105e-08 1.157e-08 *** SOLVE walking *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 2.055e+05 1.832e+07 3.661e+07 1.000e-02 1.000e-02 1.0000 1.000e-02 0.000e+00 0.000e+00 1.832e+07 1.814e+07 @@ -66,7 +66,7 @@ iter cost stop grad xreg ureg step ||ffeas|| 18 4.567e+03 3.274e-02 6.549e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.274e-02 3.277e-02 19 4.567e+03 1.831e-04 3.661e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.831e-04 1.832e-04 iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV - 20 4.567e+03 4.116e-08 8.231e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.116e-08 4.066e-08 + 20 4.567e+03 4.117e-08 8.234e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.117e-08 4.043e-08 *** SOLVE walking *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 1.448e+05 1.831e+07 3.660e+07 1.000e-02 1.000e-02 1.0000 9.731e-03 0.000e+00 0.000e+00 1.831e+07 1.819e+07 @@ -91,4 +91,4 @@ iter cost stop grad xreg ureg step ||ffeas|| 18 4.656e+03 6.990e-02 1.398e-01 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 6.990e-02 7.002e-02 19 4.656e+03 1.426e-04 2.852e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.426e-04 1.425e-04 iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV - 20 4.656e+03 4.527e-08 9.055e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.527e-08 4.583e-08 + 20 4.656e+03 4.552e-08 9.105e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.552e-08 4.609e-08 diff --git a/examples/log/humanoid_manipulation.log b/examples/log/humanoid_manipulation.log index 96c9d8af07..d757f0f434 100644 --- a/examples/log/humanoid_manipulation.log +++ b/examples/log/humanoid_manipulation.log @@ -5,19 +5,19 @@ iter cost stop grad xreg ureg step ||ffeas|| 3 5.144e+01 1.308e+01 2.615e+01 1.000e-01 1.000e-01 0.5000 1.502e-14 0.000e+00 0.000e+00 9.808e+00 1.080e+01 4 4.829e+01 6.135e+00 1.227e+01 1.000e-01 1.000e-01 0.5000 7.522e-15 0.000e+00 0.000e+00 4.601e+00 3.153e+00 5 4.668e+01 6.886e+00 1.377e+01 1.000e-01 1.000e-01 0.1250 3.775e-15 0.000e+00 0.000e+00 1.614e+00 1.611e+00 - 6 4.408e+01 5.838e+00 1.168e+01 1.000e-01 1.000e-01 0.2500 3.331e-15 0.000e+00 0.000e+00 2.554e+00 2.596e+00 - 7 4.051e+01 4.356e+00 8.713e+00 1.000e-01 1.000e-01 0.5000 2.498e-15 0.000e+00 0.000e+00 3.267e+00 3.570e+00 - 8 3.756e+01 4.118e+00 8.237e+00 1.000e-01 1.000e-01 0.5000 1.277e-15 0.000e+00 0.000e+00 3.089e+00 2.955e+00 + 6 4.408e+01 5.838e+00 1.168e+01 1.000e-01 1.000e-01 0.2500 3.303e-15 0.000e+00 0.000e+00 2.554e+00 2.596e+00 + 7 4.051e+01 4.356e+00 8.713e+00 1.000e-01 1.000e-01 0.5000 2.470e-15 0.000e+00 0.000e+00 3.267e+00 3.570e+00 + 8 3.756e+01 4.118e+00 8.237e+00 1.000e-01 1.000e-01 0.5000 1.249e-15 0.000e+00 0.000e+00 3.089e+00 2.955e+00 9 3.611e+01 4.456e+00 8.912e+00 1.000e-01 1.000e-01 0.2500 6.661e-16 0.000e+00 0.000e+00 1.949e+00 1.447e+00 iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 10 3.502e+01 4.574e+00 9.148e+00 1.000e-01 1.000e-01 0.2500 6.661e-16 0.000e+00 0.000e+00 2.001e+00 1.096e+00 - 11 3.432e+01 4.976e+00 9.952e+00 1.000e-01 1.000e-01 0.2500 6.661e-16 0.000e+00 0.000e+00 2.177e+00 6.977e-01 + 11 3.432e+01 4.976e+00 9.952e+00 1.000e-01 1.000e-01 0.2500 4.441e-16 0.000e+00 0.000e+00 2.177e+00 6.977e-01 12 3.338e+01 5.676e+00 1.135e+01 1.000e-01 1.000e-01 0.1250 4.441e-16 0.000e+00 0.000e+00 1.330e+00 9.332e-01 13 3.252e+01 5.398e+00 1.080e+01 1.000e-01 1.000e-01 0.1250 6.661e-16 0.000e+00 0.000e+00 1.265e+00 8.611e-01 14 3.172e+01 5.168e+00 1.034e+01 1.000e-01 1.000e-01 0.1250 8.882e-16 0.000e+00 0.000e+00 1.211e+00 8.028e-01 - 15 3.096e+01 4.961e+00 9.923e+00 1.000e-01 1.000e-01 0.1250 6.661e-16 0.000e+00 0.000e+00 1.163e+00 7.611e-01 - 16 3.034e+01 4.780e+00 9.560e+00 1.000e-01 1.000e-01 0.1250 6.661e-16 0.000e+00 0.000e+00 1.120e+00 6.159e-01 - 17 2.437e+01 4.545e+00 9.090e+00 1.000e-02 1.000e-02 1.0000 8.882e-16 0.000e+00 0.000e+00 4.545e+00 5.970e+00 + 15 3.096e+01 4.961e+00 9.923e+00 1.000e-01 1.000e-01 0.1250 8.882e-16 0.000e+00 0.000e+00 1.163e+00 7.611e-01 + 16 3.034e+01 4.780e+00 9.560e+00 1.000e-01 1.000e-01 0.1250 8.882e-16 0.000e+00 0.000e+00 1.120e+00 6.159e-01 + 17 2.437e+01 4.545e+00 9.090e+00 1.000e-02 1.000e-02 1.0000 6.661e-16 0.000e+00 0.000e+00 4.545e+00 5.970e+00 18 2.222e+01 8.519e+00 1.704e+01 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 1.997e+00 2.156e+00 19 2.020e+01 7.929e+00 1.586e+01 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 1.858e+00 2.019e+00 iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV @@ -79,7 +79,7 @@ iter cost stop grad xreg ureg step ||ffeas|| 70 3.456e+00 1.016e-07 2.032e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.016e-07 1.033e-07 71 3.456e+00 3.482e-08 6.964e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.482e-08 3.501e-08 72 3.456e+00 3.248e-09 6.495e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.248e-09 3.254e-09 - 73 3.456e+00 7.353e-13 1.471e-12 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.353e-13 7.767e-13 + 73 3.456e+00 7.353e-13 1.471e-12 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.353e-13 7.976e-13 Finally reached = (0.400, 0.000, 1.200) Distance between hand and target = 1.523E-05 Distance to default state = 1.615E+00 diff --git a/examples/log/humanoid_manipulation_ubound.log b/examples/log/humanoid_manipulation_ubound.log index 8c079c0bb3..cedfbb38b8 100644 --- a/examples/log/humanoid_manipulation_ubound.log +++ b/examples/log/humanoid_manipulation_ubound.log @@ -36,7 +36,7 @@ iter cost stop grad xreg ureg step ||ffeas|| 31 3.745e+01 2.495e+01 4.990e+01 1.000e-02 1.000e-02 0.2500 1.113e-14 0.000e+00 0.000e+00 1.092e+01 3.994e+00 32 3.254e+01 2.418e+01 4.835e+01 1.000e-02 1.000e-02 0.2500 8.354e-15 0.000e+00 0.000e+00 1.058e+01 4.908e+00 33 2.861e+01 2.131e+01 4.262e+01 1.000e-02 1.000e-02 0.2500 6.273e-15 0.000e+00 0.000e+00 9.322e+00 3.924e+00 - 34 2.584e+01 1.864e+01 3.728e+01 1.000e-02 1.000e-02 0.2500 4.705e-15 0.000e+00 0.000e+00 8.156e+00 2.772e+00 + 34 2.584e+01 1.864e+01 3.728e+01 1.000e-02 1.000e-02 0.2500 4.718e-15 0.000e+00 0.000e+00 8.156e+00 2.772e+00 35 2.245e+01 1.649e+01 3.298e+01 1.000e-02 1.000e-02 0.5000 3.553e-15 0.000e+00 0.000e+00 1.237e+01 3.394e+00 36 2.106e+01 1.361e+01 2.722e+01 1.000e-02 1.000e-02 0.5000 1.776e-15 0.000e+00 0.000e+00 1.021e+01 1.383e+00 37 2.106e+01 1.240e+01 2.480e+01 1.000e-01 1.000e-01 0.0020 8.882e-16 0.000e+00 0.000e+00 4.839e-02 2.979e-03 diff --git a/examples/log/humanoid_taichi.log b/examples/log/humanoid_taichi.log index 2fcdf349cc..406f86d94d 100644 --- a/examples/log/humanoid_taichi.log +++ b/examples/log/humanoid_taichi.log @@ -23,7 +23,7 @@ iter cost stop grad xreg ureg step ||ffeas|| iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 20 8.986e+01 7.270e+01 1.454e+02 1.000e-03 1.000e-03 0.0156 4.525e-14 0.000e+00 0.000e+00 2.254e+00 1.033e+00 21 8.893e+01 7.115e+01 1.423e+02 1.000e-03 1.000e-03 0.0156 4.454e-14 0.000e+00 0.000e+00 2.206e+00 9.368e-01 - 22 8.814e+01 6.960e+01 1.392e+02 1.000e-03 1.000e-03 0.0156 4.384e-14 0.000e+00 0.000e+00 2.158e+00 7.831e-01 + 22 8.814e+01 6.960e+01 1.392e+02 1.000e-03 1.000e-03 0.0156 4.385e-14 0.000e+00 0.000e+00 2.158e+00 7.831e-01 23 8.750e+01 6.805e+01 1.361e+02 1.000e-03 1.000e-03 0.0156 4.316e-14 0.000e+00 0.000e+00 2.110e+00 6.419e-01 24 8.726e+01 6.652e+01 1.330e+02 1.000e-02 1.000e-02 0.0078 4.249e-14 0.000e+00 0.000e+00 1.035e+00 2.406e-01 25 8.420e+01 4.579e+01 9.158e+01 1.000e-02 1.000e-02 0.0625 4.215e-14 0.000e+00 0.000e+00 5.545e+00 3.057e+00 @@ -33,13 +33,13 @@ iter cost stop grad xreg ureg step ||ffeas|| 29 6.702e+01 3.500e+01 7.001e+01 1.000e-02 1.000e-02 0.5000 2.605e-14 0.000e+00 0.000e+00 2.625e+01 8.041e+00 iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 30 6.311e+01 3.609e+01 7.217e+01 1.000e-02 1.000e-02 0.1250 1.303e-14 0.000e+00 0.000e+00 8.458e+00 3.909e+00 - 31 5.946e+01 3.525e+01 7.049e+01 1.000e-02 1.000e-02 0.1250 1.140e-14 0.000e+00 0.000e+00 8.261e+00 3.650e+00 - 32 5.586e+01 3.402e+01 6.805e+01 1.000e-02 1.000e-02 0.1250 9.975e-15 0.000e+00 0.000e+00 7.975e+00 3.604e+00 + 31 5.946e+01 3.525e+01 7.049e+01 1.000e-02 1.000e-02 0.1250 1.141e-14 0.000e+00 0.000e+00 8.261e+00 3.650e+00 + 32 5.586e+01 3.402e+01 6.805e+01 1.000e-02 1.000e-02 0.1250 9.978e-15 0.000e+00 0.000e+00 7.975e+00 3.604e+00 33 4.989e+01 3.246e+01 6.493e+01 1.000e-02 1.000e-02 0.2500 8.729e-15 0.000e+00 0.000e+00 1.420e+01 5.969e+00 - 34 4.901e+01 3.091e+01 6.181e+01 1.000e-02 1.000e-02 0.0625 6.547e-15 0.000e+00 0.000e+00 3.742e+00 8.757e-01 - 35 3.999e+01 3.019e+01 6.039e+01 1.000e-02 1.000e-02 0.5000 6.137e-15 0.000e+00 0.000e+00 2.265e+01 9.023e+00 - 36 3.484e+01 2.454e+01 4.909e+01 1.000e-02 1.000e-02 0.5000 3.553e-15 0.000e+00 0.000e+00 1.841e+01 5.148e+00 - 37 3.164e+01 2.024e+01 4.049e+01 1.000e-03 1.000e-03 1.0000 1.534e-15 0.000e+00 0.000e+00 2.024e+01 3.202e+00 + 34 4.901e+01 3.091e+01 6.181e+01 1.000e-02 1.000e-02 0.0625 6.545e-15 0.000e+00 0.000e+00 3.742e+00 8.757e-01 + 35 3.999e+01 3.019e+01 6.039e+01 1.000e-02 1.000e-02 0.5000 6.136e-15 0.000e+00 0.000e+00 2.265e+01 9.023e+00 + 36 3.484e+01 2.454e+01 4.909e+01 1.000e-02 1.000e-02 0.5000 3.069e-15 0.000e+00 0.000e+00 1.841e+01 5.148e+00 + 37 3.164e+01 2.024e+01 4.049e+01 1.000e-03 1.000e-03 1.0000 1.535e-15 0.000e+00 0.000e+00 2.024e+01 3.202e+00 38 2.348e+01 1.919e+01 3.837e+01 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 8.393e+00 8.154e+00 39 1.497e+01 1.157e+01 2.314e+01 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 8.676e+00 8.517e+00 iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV diff --git a/examples/log/quadrupedal_gaits_fwddyn.log b/examples/log/quadrupedal_gaits_fwddyn.log index 50af2b4d51..270e025f67 100644 --- a/examples/log/quadrupedal_gaits_fwddyn.log +++ b/examples/log/quadrupedal_gaits_fwddyn.log @@ -12,7 +12,7 @@ iter cost stop grad xreg ureg step ||ffeas|| 9 5.884e+02 3.371e-02 6.742e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.371e-02 3.372e-02 iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 10 5.884e+02 4.226e-05 8.452e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.226e-05 4.229e-05 - 11 5.884e+02 3.834e-10 7.668e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.834e-10 3.862e-10 + 11 5.884e+02 3.828e-10 7.655e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.828e-10 3.862e-10 *** SOLVE trotting *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 1.780e+04 4.592e+05 9.184e+05 1.000e-09 1.000e-09 1.0000 1.182e-01 0.000e+00 0.000e+00 4.592e+05 4.418e+05 @@ -23,7 +23,7 @@ iter cost stop grad xreg ureg step ||ffeas|| 5 4.271e+02 1.018e-01 2.036e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.018e-01 1.021e-01 6 4.270e+02 7.044e-02 1.409e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.044e-02 7.050e-02 7 4.270e+02 9.280e-07 1.856e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.280e-07 9.354e-07 - 8 4.270e+02 5.827e-10 1.165e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.827e-10 6.078e-10 + 8 4.270e+02 5.830e-10 1.166e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.830e-10 6.121e-10 *** SOLVE pacing *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 7.843e+04 4.588e+05 9.249e+05 1.000e-09 1.000e-09 1.0000 1.622e+00 0.000e+00 0.000e+00 4.588e+05 3.812e+05 @@ -39,7 +39,7 @@ iter cost stop grad xreg ureg step ||ffeas|| iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 10 7.997e+02 8.176e-05 1.635e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.176e-05 8.767e-05 11 7.997e+02 1.734e-05 3.468e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.734e-05 1.734e-05 - 12 7.997e+02 3.540e-12 7.080e-12 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.540e-12 1.148e-11 + 12 7.997e+02 3.185e-12 6.370e-12 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.185e-12 2.274e-12 *** SOLVE bounding *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 2.045e+05 4.579e+05 9.258e+05 1.000e-09 1.000e-09 1.0000 1.175e+00 0.000e+00 0.000e+00 4.579e+05 2.553e+05 @@ -55,7 +55,7 @@ iter cost stop grad xreg ureg step ||ffeas|| iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 10 2.040e+03 7.440e-05 1.488e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.440e-05 7.440e-05 11 2.040e+03 4.599e-07 9.198e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.599e-07 4.614e-07 - 12 2.040e+03 3.097e-10 6.194e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.097e-10 3.554e-10 + 12 2.040e+03 3.098e-10 6.195e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.098e-10 3.663e-10 *** SOLVE jumping *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 1.436e+06 1.871e+06 3.878e+06 1.000e-09 1.000e-09 0.1250 1.162e+00 0.000e+00 0.000e+00 4.460e+05 4.381e+05 @@ -72,9 +72,9 @@ iter cost stop grad xreg ureg step ||ffeas|| 10 3.888e+03 5.344e-01 1.069e+00 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 2.338e-01 1.154e-01 11 3.888e+03 4.128e-01 8.255e-01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.096e-01 3.083e-01 12 3.887e+03 1.452e-01 2.904e-01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.089e-01 1.088e-01 - 13 3.887e+03 3.611e-02 7.222e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.708e-02 9.562e-03 + 13 3.887e+03 3.611e-02 7.222e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.708e-02 9.561e-03 14 3.887e+03 2.634e-02 5.269e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.976e-02 1.049e-02 15 3.887e+03 1.369e-02 2.737e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.369e-02 1.413e-02 16 3.887e+03 1.320e-03 2.640e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.320e-03 1.320e-03 - 17 3.887e+03 1.373e-09 2.747e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.373e-09 1.391e-09 - 18 3.887e+03 1.684e-11 3.367e-11 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.684e-11 8.095e-11 + 17 3.887e+03 1.372e-09 2.744e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.372e-09 1.446e-09 + 18 3.887e+03 1.610e-11 3.220e-11 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.208e-11 1.182e-11 diff --git a/examples/log/quadrupedal_gaits_invdyn.log b/examples/log/quadrupedal_gaits_invdyn.log index 6d0797f6f4..6c500b9720 100644 --- a/examples/log/quadrupedal_gaits_invdyn.log +++ b/examples/log/quadrupedal_gaits_invdyn.log @@ -7,8 +7,8 @@ iter cost stop grad xreg ureg step ||ffeas|| 4 7.607e+02 2.050e+03 4.099e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.681e-02 2.050e+03 1.877e+03 5 5.897e+02 1.723e+02 3.446e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.589e-03 1.723e+02 1.710e+02 6 5.884e+02 1.284e+00 2.567e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.107e-05 1.284e+00 1.284e+00 - 7 5.884e+02 8.295e-06 1.439e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.054e-09 8.295e-06 8.296e-06 - 8 5.884e+02 3.359e-10 2.067e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.073e-12 3.359e-10 3.397e-10 + 7 5.884e+02 8.294e-06 1.439e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.054e-09 8.294e-06 8.296e-06 + 8 5.884e+02 3.365e-10 2.077e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.041e-12 3.365e-10 3.365e-10 *** SOLVE trotting *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 1.931e+04 4.592e+05 9.188e+05 1.000e-09 1.000e-09 1.0000 5.387e-02 0.000e+00 4.159e+01 4.592e+05 4.403e+05 @@ -18,8 +18,8 @@ iter cost stop grad xreg ureg step ||ffeas|| 4 4.270e+02 6.812e+00 1.363e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.906e-02 6.812e+00 6.775e+00 5 4.270e+02 6.583e-02 1.321e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.693e-03 6.583e-02 6.587e-02 6 4.270e+02 5.160e-05 4.184e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.705e-07 5.160e-05 5.160e-05 - 7 4.270e+02 3.306e-08 2.767e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.120e-10 -3.306e-08 -3.305e-08 - 8 4.270e+02 2.027e-11 4.778e-12 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 2.842e-13 -2.027e-11 -2.433e-11 + 7 4.270e+02 3.306e-08 2.762e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.117e-10 -3.306e-08 -3.306e-08 + 8 4.270e+02 2.019e-11 4.888e-12 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 2.274e-13 -2.019e-11 -2.512e-11 *** SOLVE pacing *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 6.268e+04 4.588e+05 9.388e+05 1.000e-09 1.000e-09 1.0000 1.267e-01 0.000e+00 1.409e+02 4.588e+05 3.970e+05 @@ -31,9 +31,9 @@ iter cost stop grad xreg ureg step ||ffeas|| 6 7.997e+02 4.978e-02 9.923e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.503e-05 4.978e-02 5.033e-02 7 7.997e+02 1.079e-03 2.158e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.965e-07 1.079e-03 1.102e-03 8 7.997e+02 6.751e-05 1.350e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.036e-07 6.751e-05 6.751e-05 - 9 7.997e+02 1.912e-09 1.303e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.041e-12 1.912e-09 1.915e-09 + 9 7.997e+02 1.911e-09 1.298e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.098e-12 1.911e-09 1.921e-09 iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV - 10 7.997e+02 4.552e-12 1.189e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.984e-13 4.552e-12 4.320e-12 + 10 7.997e+02 4.756e-12 1.505e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.411e-13 4.756e-12 -6.253e-12 *** SOLVE bounding *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 2.123e+05 4.578e+05 9.573e+05 1.000e-09 1.000e-09 1.0000 5.695e-01 0.000e+00 8.227e+01 4.578e+05 2.475e+05 @@ -47,8 +47,8 @@ iter cost stop grad xreg ureg step ||ffeas|| 8 2.040e+03 1.499e-06 7.499e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.475e-08 1.499e-06 1.499e-06 9 2.040e+03 1.240e-07 5.877e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.102e-09 1.240e-07 1.240e-07 iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV - 10 2.040e+03 1.069e-08 4.901e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.814e-10 1.069e-08 1.070e-08 - 11 2.040e+03 9.143e-10 4.148e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.791e-11 9.143e-10 9.293e-10 + 10 2.040e+03 1.069e-08 4.901e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.812e-10 1.069e-08 1.069e-08 + 11 2.040e+03 9.141e-10 4.149e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.794e-11 9.141e-10 9.195e-10 *** SOLVE jumping *** iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 0 4.572e+05 1.871e+06 4.002e+06 1.000e-09 1.000e-09 1.0000 1.162e+00 0.000e+00 2.481e+02 1.871e+06 1.417e+06 @@ -60,7 +60,7 @@ iter cost stop grad xreg ureg step ||ffeas|| 6 3.888e+03 1.493e-01 3.159e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.386e-02 1.493e-01 -3.437e-01 7 3.887e+03 4.751e-01 9.512e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.743e-04 4.751e-01 4.803e-01 8 3.887e+03 1.026e-02 2.054e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.095e-05 1.026e-02 1.072e-02 - 9 3.887e+03 1.315e-03 2.639e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.265e-07 1.315e-03 1.315e-03 + 9 3.887e+03 1.315e-03 2.639e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.266e-07 1.315e-03 1.315e-03 iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV - 10 3.887e+03 2.490e-08 7.473e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.912e-11 2.490e-08 2.482e-08 - 11 3.887e+03 4.884e-11 2.499e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.095e-13 4.884e-11 1.023e-10 + 10 3.887e+03 2.490e-08 7.715e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.909e-11 2.490e-08 2.493e-08 + 11 3.887e+03 4.634e-11 1.704e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.684e-13 4.634e-11 2.865e-11 diff --git a/examples/log/quadrupedal_walk_ubound.log b/examples/log/quadrupedal_walk_ubound.log index 3d72c4db01..d74bfd731b 100644 --- a/examples/log/quadrupedal_walk_ubound.log +++ b/examples/log/quadrupedal_walk_ubound.log @@ -12,4 +12,4 @@ iter cost stop grad xreg ureg step ||ffeas|| 9 1.035e+03 1.385e+01 2.770e+01 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 1.385e+01 1.384e+01 iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV 10 1.035e+03 8.091e-03 1.618e-02 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 8.091e-03 8.089e-03 - 11 1.035e+03 2.042e-06 4.083e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 2.042e-06 2.109e-06 + 11 1.035e+03 2.038e-06 4.075e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 2.038e-06 2.105e-06 diff --git a/include/crocoddyl/multibody/actuations/floating-base.hpp b/include/crocoddyl/multibody/actuations/floating-base.hpp index 92135ac562..ad3b6876ec 100644 --- a/include/crocoddyl/multibody/actuations/floating-base.hpp +++ b/include/crocoddyl/multibody/actuations/floating-base.hpp @@ -52,7 +52,14 @@ class ActuationModelFloatingBaseTpl */ explicit ActuationModelFloatingBaseTpl( boost::shared_ptr state) - : Base(state, state->get_nv() - state->get_pinocchio()->joints[1].nv()){}; + : Base(state, + state->get_nv() - + state->get_pinocchio() + ->joints[( + state->get_pinocchio()->existJointName("root_joint") + ? state->get_pinocchio()->getJointId("root_joint") + : 0)] + .nv()){}; virtual ~ActuationModelFloatingBaseTpl(){}; /** @@ -131,7 +138,11 @@ class ActuationModelFloatingBaseTpl boost::static_pointer_cast(state_); boost::shared_ptr data = boost::allocate_shared(Eigen::aligned_allocator(), this); - const std::size_t nfb = state->get_pinocchio()->joints[1].nv(); + const std::size_t root_joint_id = + state->get_pinocchio()->existJointName("root_joint") + ? state->get_pinocchio()->getJointId("root_joint") + : 0; + const std::size_t nfb = state->get_pinocchio()->joints[root_joint_id].nv(); data->dtau_du.diagonal(-nfb).setOnes(); data->Mtau.diagonal(nfb).setOnes(); for (std::size_t i = 0; i < nfb; ++i) {