Environment:
- placo version: 0.6.2
- placo installation type: installed from source
- python version: 3.8.10
- eigen version: 3.4.0
- OS version: ubuntu 20.04
Issue Details:
An error occurs when running the humanoid_collisions.py example from the placo-examples repository. The log is shown below.
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Traceback (most recent call last):
File "humanoid_collisions.py", line 95, in <module>
run_loop()
File "/usr/local/lib/python3.8/dist-packages/ischedule/ischedule.py", line 107, in run_loop
run_pending()
File "/usr/local/lib/python3.8/dist-packages/ischedule/ischedule.py", line 80, in run_pending
task.func()
File "humanoid_collisions.py", line 85, in loop
solver.solve(True)
RuntimeError: QPError: Problem: Infeasible QP (check your hard inequality constraints)
I've found some workarounds, such as changing the self-collision constraint priority from hard to soft, but this might not address the root cause of the issue.
avoid_self_collisions.configure("avoid_self_collisions", "soft", 10.0)
I'm also uncertain whether this issue should be filed under the placo repository or the placo-examples repository. Since it seems like the error originates from placo, I'm posting it here first.
Environment:
Issue Details:
An error occurs when running the humanoid_collisions.py example from the placo-examples repository. The log is shown below.
I've found some workarounds, such as changing the self-collision constraint priority from hard to soft, but this might not address the root cause of the issue.
I'm also uncertain whether this issue should be filed under the placo repository or the placo-examples repository. Since it seems like the error originates from placo, I'm posting it here first.