java.lang.RuntimeException: java.util.concurrent.ExecutionException: java.lang.RuntimeException: java.lang.RuntimeException: Argument -0.005178999999999989 not in range [0.0, Infinity].

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  • GitHub comment 44#229031902
    via GitHub by VladimirIvan
    ,
    • java.lang.RuntimeException: java.util.concurrent.ExecutionException: java.lang.RuntimeException: java.lang.RuntimeException: Argument -0.005178999999999989 not in range [0.0, Infinity]. at us.ihmc.simulationconstructionset.robotController.MultiThreadedRobotControllerExecutor.waitAndWriteData(MultiThreadedRobotControllerExecutor.java:78) at us.ihmc.simulationconstructionset.robotController.AbstractThreadedRobotController.doControl(AbstractThreadedRobotController.java:70) at us.ihmc.simulationconstructionset.Robot.doControllers(Robot.java:446) at us.ihmc.simulationconstructionset.Simulator.doControl(Simulator.java:126) at us.ihmc.simulationconstructionset.Simulator.simulate(Simulator.java:65) at us.ihmc.simulationconstructionset.Simulation.simulate(Simulation.java:392) at us.ihmc.simulationconstructionset.SimulationConstructionSet.simulateCycle(SimulationConstructionSet.java:2292) at us.ihmc.simulationconstructionset.SimulationConstructionSet.run(SimulationConstructionSet.java:2182) at java.lang.Thread.run(Thread.java:745) Caused by: java.util.concurrent.ExecutionException: java.lang.RuntimeException: java.lang.RuntimeException: Argument -0.005178999999999989 not in range [0.0, Infinity]. at java.util.concurrent.FutureTask.report(FutureTask.java:122) at java.util.concurrent.FutureTask.get(FutureTask.java:192) at us.ihmc.simulationconstructionset.robotController.MultiThreadedRobotControllerExecutor.waitAndWriteData(MultiThreadedRobotControllerExecutor.java:56) ... 8 more Caused by: java.lang.RuntimeException: java.lang.RuntimeException: Argument -0.005178999999999989 not in range [0.0, Infinity]. at us.ihmc.wholeBodyController.DRCControllerThread.run(DRCControllerThread.java:347) at java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:511) at java.util.concurrent.FutureTask.run(FutureTask.java:266) at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) ... 1 more Caused by: java.lang.RuntimeException: Argument -0.005178999999999989 not in range [0.0, Infinity]. at us.ihmc.robotics.MathTools.checkIfInRange(MathTools.java:475) at us.ihmc.robotics.math.trajectories.HermiteCurveBasedOrientationTrajectoryGenerator.setTrajectoryTime(HermiteCurveBasedOrientationTrajectoryGenerator.java:167) at us.ihmc.robotics.math.trajectories.HermiteCurveBasedOrientationTrajectoryGenerator.setTrajectoryParameters(HermiteCurveBasedOrientationTrajectoryGenerator.java:295) at us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsOrientationTrajectoryGenerator.initializeSubTrajectory(MultipleWaypointsOrientationTrajectoryGenerator.java:223) at us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsOrientationTrajectoryGenerator.compute(MultipleWaypointsOrientationTrajectoryGenerator.java:236) at us.ihmc.commonWalkingControlModules.controlModules.ChestOrientationManager.compute(ChestOrientationManager.java:117) at us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.WalkingHighLevelHumanoidController.updateManagers(WalkingHighLevelHumanoidController.java:584) at us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.WalkingHighLevelHumanoidController.doAction(WalkingHighLevelHumanoidController.java:513) at us.ihmc.robotics.stateMachines.GenericStateMachine.doAction(GenericStateMachine.java:114) at us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.HighLevelHumanoidControllerManager.doControl(HighLevelHumanoidControllerManager.java:172) at us.ihmc.simulationconstructionset.robotController.ModularRobotController.doControl(ModularRobotController.java:20) at us.ihmc.wholeBodyController.DRCControllerThread.run(DRCControllerThread.java:339) ... 5 more
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