Add passive joint moments - #32
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But this is not the reason it failed. qminc would only be used when k2 is not zero, and the simulation fails when k2 is zero and k1 is not zero.
| self.origin_joint = origin_joint | ||
| self.joint_description = joint_description | ||
| self.inertial_frame = inertial_frame | ||
| self.passive_torque = passive_torque; |
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| self.passive_torque = passive_torque; | |
| self.passive_torque = passive_torque |
| *.i*86 | ||
| *.x86_64 | ||
| *.hex | ||
| algait2de/gait2de.c |
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I think I commited this on purpose because I don't have autolev to regenerate it. We shouldn't ignore it.
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| segment = segment_class(label, desc, parent_reference_frame, | ||
| origin_joint, joint_desc, ground) | ||
| origin_joint, joint_desc, ground, passive_torque) |
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| origin_joint, joint_desc, ground, passive_torque) | |
| origin_joint, joint_desc, ground, passive_torque=passive_torque) |
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All looks good. I tested the forward sim and it runs. You could add them to the predictive sim example also (if that makes sense). |
I had .gitignored it, because its first line says "Generated by Cython 3.2.4". So I assumed it was generated by pygait2d. It does not look like it was generated by Autolev.
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I have put gait2de.c back in the repository. But can you please check where it came from? It first line says "Generated by Cython 3.2.4" and it does not look like anything generated by Autolev. In my Autolev workflow, Autolev generates gait2de_al.c, which is then cleaned up by autolevclean.c, which creates gait2de.c, a callable function. That file then does not need to be in the repository. I am still puzzled why the model with passive moments did not work for me yesterday. Maybe something from the cache was reused? It works now, and the code is still the same. |
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My apologies I was wrong and thought you were gitignoring the gait2de_al.c and forgot that Cython will generate the other C file. We do not need to commit the Cython generated C file (gait2de.c) and it can be gitignored.
Not sure. I only have a cache on the opty code, not the forward simulation. |
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