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

GitHub | VladimirIvan | 8 months ago
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    GitHub comment 44#229031902

    GitHub | 8 months ago | VladimirIvan
    java.lang.RuntimeException: java.util.concurrent.ExecutionException: java.lang.RuntimeException: java.lang.RuntimeException: Argument -0.005178999999999989 not in range [0.0, Infinity].

    Root Cause Analysis

    1. java.lang.RuntimeException

      Argument -0.005178999999999989 not in range [0.0, Infinity].

      at us.ihmc.robotics.MathTools.checkIfInRange()
    2. us.ihmc.robotics
      MultipleWaypointsOrientationTrajectoryGenerator.compute
      1. us.ihmc.robotics.MathTools.checkIfInRange(MathTools.java:475)
      2. us.ihmc.robotics.math.trajectories.HermiteCurveBasedOrientationTrajectoryGenerator.setTrajectoryTime(HermiteCurveBasedOrientationTrajectoryGenerator.java:167)
      3. us.ihmc.robotics.math.trajectories.HermiteCurveBasedOrientationTrajectoryGenerator.setTrajectoryParameters(HermiteCurveBasedOrientationTrajectoryGenerator.java:295)
      4. us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsOrientationTrajectoryGenerator.initializeSubTrajectory(MultipleWaypointsOrientationTrajectoryGenerator.java:223)
      5. us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsOrientationTrajectoryGenerator.compute(MultipleWaypointsOrientationTrajectoryGenerator.java:236)
      5 frames
    3. us.ihmc.commonWalkingControlModules
      WalkingHighLevelHumanoidController.doAction
      1. us.ihmc.commonWalkingControlModules.controlModules.ChestOrientationManager.compute(ChestOrientationManager.java:117)
      2. us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.WalkingHighLevelHumanoidController.updateManagers(WalkingHighLevelHumanoidController.java:584)
      3. us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.WalkingHighLevelHumanoidController.doAction(WalkingHighLevelHumanoidController.java:513)
      3 frames
    4. us.ihmc.robotics
      GenericStateMachine.doAction
      1. us.ihmc.robotics.stateMachines.GenericStateMachine.doAction(GenericStateMachine.java:114)
      1 frame
    5. us.ihmc.commonWalkingControlModules
      HighLevelHumanoidControllerManager.doControl
      1. us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.HighLevelHumanoidControllerManager.doControl(HighLevelHumanoidControllerManager.java:172)
      1 frame
    6. us.ihmc.simulationconstructionset
      ModularRobotController.doControl
      1. us.ihmc.simulationconstructionset.robotController.ModularRobotController.doControl(ModularRobotController.java:20)
      1 frame
    7. us.ihmc.wholeBodyController
      DRCControllerThread.run
      1. us.ihmc.wholeBodyController.DRCControllerThread.run(DRCControllerThread.java:339)
      1 frame
    8. Java RT
      Thread.run
      1. java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:511)
      2. java.util.concurrent.FutureTask.run(FutureTask.java:266)
      3. java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
      4. java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
      5. java.lang.Thread.run(Thread.java:745)
      5 frames