JMinvJt_damping results in pinocchio quaternion assertion
I've added 1e-12
damping to every action model as follows (in quadruped.py
):
dmodel = crocoddyl.DifferentialActionModelContactFwdDynamics(self.state, self.actuation, contactModel, costModel)
dmodel.JMinvJt_damping = 1e-12
model = crocoddyl.IntegratedActionModelEuler(dmodel, timeStep)
When solving, I now receive the following assertion crash:
python: /opt/openrobots/include/pinocchio/math/quaternion.hpp:89: void pinocchio::quaternion::firstOrderNormalize(const Eigen::QuaternionBase<Derived>&) [with D = Eigen::Map<Eigen::Quaternion<double>, 0>]: Assertion `static_leq::op(math::fabs(N2-1.), epsilon)' failed.
Without damping, the assertion in the DifferentialActionModelContactFwdDynamics
triggers.