MPC preview is not updated
PAlamirpour opened this issue · 2 comments
Hello sir
I work on fip-walking and I compiled the source code base on the guide which was written in GitHub. I have a problem. There might be a problem in the ZMP calculation part. I have uploaded a video about the problem. As you can see, ZMP part goes to infinite value. Would you help me out fix this problem?
Judging from your video, the main problem is that your MPC preview is not updated (the fact that the robot diverges after a while is only a consequence, as the system without preview update is numerically unstable). This is most likely a solver error.
I'm not sure your IPOPT installation is working correctly (if it were, you should see a message starting with "This program contains Ipopt..." at the beginning of the simulation, but I don't see it in your video). Can you check that you run the ipopt.py example from CasADi successfully?
Thank you for your response. I checked the example of cassadi. It works fine for me. But as you told, The "This program contains Ipopt..." did not appear in the start of fip-walking simulation. I think it is better I'll check all of the imported cassadi libraries and their paths. If I can find the problem's reason, I'll explain here.