Comments (8)
jcarpent
commented on July 27, 2024
Hello Martin,
Thanks for your report.
I tried your code on my computer (Mac OS X 10.10, llvm 3.4, Eigen 3.2.5, last commit of Pinocchio on the devel branch 227a4cd) and everything looks fine with very small residues:
Model: ../pin-fix-bug/models/simple_humanoid.urdf
--
Stats | #q | #qdot
Pinocchio | 36 | 35
--
Error M[0:6,0:6]
[[ 0.00e+00 0.00e+00 0.00e+00 -0.00e+00 1.24e-14 -0.00e+00]
[ 0.00e+00 0.00e+00 0.00e+00 1.78e-15 -0.00e+00 -1.42e-14]
[ 0.00e+00 0.00e+00 -1.71e-13 0.00e+00 -2.13e-13 -0.00e+00]
[ -0.00e+00 1.78e-15 1.42e-14 1.42e-14 0.00e+00 4.44e-16]
[ -5.33e-15 -0.00e+00 -1.07e-14 -3.55e-15 -1.42e-14 -7.33e-15]
[ -3.55e-15 0.00e+00 -0.00e+00 4.44e-16 -3.77e-15 -7.11e-15]]
Error M[0:6,6:12]
[[ 0.00e+00 1.24e-14 6.38e-16 4.44e-15 2.50e-15 0.00e+00]
[ 0.00e+00 0.00e+00 -3.52e-15 0.00e+00 0.00e+00 -2.55e-15]
[ -1.78e-13 -7.46e-14 0.00e+00 -7.46e-14 -7.46e-14 0.00e+00]
[ 1.78e-15 -5.58e-15 -4.41e-15 -5.58e-15 -5.58e-15 -3.33e-15]
[ 4.34e-19 -7.11e-15 -2.69e-15 -5.33e-15 -4.88e-15 0.00e+00]
[ 2.66e-15 -2.11e-15 1.78e-15 1.22e-15 1.55e-15 -7.08e-16]]
Can you give me your current configuration in order to reproduce your errors ?
Best,
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fvalenza
commented on July 27, 2024
Hello Martin,
Here are some results on an Ubuntu 12.04 64 bits, with gcc 4.6.3, eigen 3.2.1.
They come from the master branch (release v1.0.2), but i get the same matrices on the devel branch.
Model: /local/fvalenza/devel/src/pinocchio/models/simple_humanoid.urdf
--
Stats | #q | #qdot
Pinocchio | 29 | 29
--
Error M[0:6,0:6]
[[ 0.00e+00 0.00e+00 4.72e-16 0.00e+00 0.00e+00 2.22e-16]
[ 0.00e+00 0.00e+00 -2.78e-17 0.00e+00 8.88e-16 0.00e+00]
[ 2.78e-17 -2.78e-17 0.00e+00 0.00e+00 0.00e+00 1.80e-16]
[ 0.00e+00 1.78e-15 0.00e+00 0.00e+00 8.88e-16 0.00e+00]
[ 0.00e+00 4.44e-16 0.00e+00 0.00e+00 8.88e-16 0.00e+00]
[ 0.00e+00 0.00e+00 -4.16e-17 0.00e+00 0.00e+00 0.00e+00]]
Error M[0:6,6:12]
[[ 0. 0. 0. 0. 0. 0.]
[ 0. 0. 0. 0. 0. 0.]
[ 0. 0. 0. 0. 0. 0.]
[ 0. 0. 0. 0. 0. 0.]
[ 0. 0. 0. 0. 0. 0.]
[ 0. 0. 0. 0. 0. 0.]]
With the FreeFlyer :
Model: /local/fvalenza/devel/src/pinocchio/models/simple_humanoid.urdf
--
Stats | #q | #qdot
Pinocchio | 36 | 35
--
Error M[0:6,0:6]
[[ 0.00e+00 0.00e+00 0.00e+00 -0.00e+00 1.24e-14 -0.00e+00]
[ 0.00e+00 0.00e+00 0.00e+00 1.78e-15 -0.00e+00 -1.42e-14]
[ 0.00e+00 0.00e+00 -1.71e-13 0.00e+00 -2.13e-13 -0.00e+00]
[ -0.00e+00 1.78e-15 1.42e-14 1.42e-14 0.00e+00 4.44e-16]
[ -5.33e-15 -0.00e+00 -1.07e-14 -3.55e-15 -1.42e-14 -7.33e-15]
[ -3.55e-15 0.00e+00 -0.00e+00 4.44e-16 -3.77e-15 -7.11e-15]]
Error M[0:6,6:12]
[[ 0.00e+00 1.24e-14 6.38e-16 4.44e-15 2.50e-15 0.00e+00]
[ 0.00e+00 0.00e+00 -3.52e-15 0.00e+00 0.00e+00 -2.55e-15]
[ -1.78e-13 -7.46e-14 0.00e+00 -7.46e-14 -7.46e-14 0.00e+00]
[ 1.78e-15 -5.58e-15 -4.41e-15 -5.58e-15 -5.58e-15 -3.33e-15]
[ 4.34e-19 -7.11e-15 -2.69e-15 -5.33e-15 -4.88e-15 0.00e+00]
[ 2.66e-15 -2.11e-15 1.78e-15 1.22e-15 1.55e-15 -7.08e-16]]
I get the same results as Justin when using clang
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aelkhour
commented on July 27, 2024
I believe I had the same problem, it comes from se3::Symmetric3Tpl::rotate (I thought i was fixed).
// Y = R' L ===> (12 m + 8 a)
const Matrix2 & Y = R.template block<2,3>(1,0) * L; // Wrong
const Matrix2 Y(R.template block<2,3>(1,0) * L); // Correct@martinfelis Could you check?
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martinfelis
commented on July 27, 2024
Hrmm.... I am on:
- Ubuntu 14.04
- g++ (Ubuntu 4.8.4-2ubuntu1~14.04) 4.8.4
- eigenpy 5b9029e7d59
- libeigen3-dev 3.2.0-8
Both master and devel branch give the same results. The culprit seems to be using Release mode. In Debug mode the errors are negligible.
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jcarpent
commented on July 27, 2024
It seems that this error already occurred for @aelkhour but was never fixed as @aelkhour switched to clang as far as I remember.
@martinfelis does the line
const Matrix2 Y(R.template block<2,3>(1,0) * L);fixe your problem ?
In this way, we will fix this line in order to really control the compiler behavior.
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martinfelis
commented on July 27, 2024
It does indeed.
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jcarpent
commented on July 27, 2024
Thanks Martin for reporting and checking. Thanks Antonio for highlighting the buggy line. The bug is now fixed (2bd39d8).
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aelkhour
commented on July 27, 2024
Thanks for the hotfix @jcarpent and @fvalenza.
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