ODE deterministic and QuickStep
Posted: 20 Apr 2023, 11:12
Hello Coppelia,
Comming from this post:
https://forum.coppeliarobotics.com/view ... hp?t=10093
I work with ubuntu18 python 3 and i utilize the Coppelia always in synchronous mode, because I want that my results would be repeatable and reproducible
I've started to replicate "my robot" from previous versions of Coppelia, in the current version, Coppelia 4.5.1. In addition, following your suggestion, I've planned to run my experiments under different physics engines. The final appearance of the robot would be this one:
https://www.dropbox.com/s/g94kwdyk1z1awdx/quad.png?dl=0
Then, I remember having done some changes in my old scenes, to achieve that the ODE would be deterministic (and I achieved it).
To do the ODE deterministic in the current 4.5.1 version (because by default it is not), I've taken a look to this old post:
https://forum.coppeliarobotics.com/view ... tic#p24252
Which in essence, consists on change the "enabled" variable to false (see code below)
However, doing that, I found a very estrange behavior in a very simple scene, meaning that the robot jumps and disappear, when I press the "start simulation" button :
https://www.dropbox.com/s/we83kcihcslqt ... 2.ttt?dl=0
In addition, in the console where I run the "./coppeliaSim.sh" command, I get these messages:
Regards!
Comming from this post:
https://forum.coppeliarobotics.com/view ... hp?t=10093
I work with ubuntu18 python 3 and i utilize the Coppelia always in synchronous mode, because I want that my results would be repeatable and reproducible
I've started to replicate "my robot" from previous versions of Coppelia, in the current version, Coppelia 4.5.1. In addition, following your suggestion, I've planned to run my experiments under different physics engines. The final appearance of the robot would be this one:
https://www.dropbox.com/s/g94kwdyk1z1awdx/quad.png?dl=0
Then, I remember having done some changes in my old scenes, to achieve that the ODE would be deterministic (and I achieved it).
To do the ODE deterministic in the current 4.5.1 version (because by default it is not), I've taken a look to this old post:
https://forum.coppeliarobotics.com/view ... tic#p24252
Which in essence, consists on change the "enabled" variable to false (see code below)
Code: Select all
"ode": {
"quickStep": {
"enabled": false, //DEFAULT: true
"iterations": 100
}
https://www.dropbox.com/s/we83kcihcslqt ... 2.ttt?dl=0
In addition, in the console where I run the "./coppeliaSim.sh" command, I get these messages:
Would you have any idea about what is happening and how to solve it?ODE Message 3: LCP internal error, s <= 0 (s=-8.0000e-01)
ODE Message 3: LCP internal error, s <= 0 (s=-1.1000e+01)
Regards!