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@EricCousineau-TRI
Created January 28, 2023 02:59
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$ bazel run //examples/instability:py/plant_hidden_state_test
...
[ good 0 ]
Setup(discrete_plant=False, add_contact_viz=True, add_zoh=True, add_latch=True, clean_plant_state=False)
Initialize: 0
t: 0.0
x_a: [0.125 0. ]
u: [-0.125]
Initialize: 1
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Post-Init
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Run
t: 0.0001
x_a: [0.125 0. ]
u: [-0.]
t: 0.0006000000000000001
x_a: [0.125 0. ]
u: [-0.]
t: 0.0031000000000000003
x_a: [0.125 0. ]
u: [-0.]
t: 0.015600000000000001
x_a: [0.125 0. ]
u: [-0.]
t: 0.0781
x_a: [0.125 0. ]
u: [-0.]
t: 0.1781
x_a: [0.125 0. ]
u: [-0.]
t: 0.25
x_a: [0.125 0. ]
u: [-0.]
Good!
[ good 1 ]
Setup(discrete_plant=True, add_contact_viz=False, add_zoh=True, add_latch=True, clean_plant_state=False)
Initialize: 0
t: 0.0
x_a: [0.125 0. ]
u: [-0.125]
Initialize: 1
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Post-Init
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Run
t: 0.25
x_a: [0.125 0. ]
u: [-0.]
Good!
[ good 2 ]
Setup(discrete_plant=True, add_contact_viz=True, add_zoh=False, add_latch=True, clean_plant_state=False)
Initialize: 0
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Initialize: 1
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Post-Init
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Run
t: 0.25
x_a: [0.125 0. ]
u: [-0.]
Good!
[ good 3 ]
Setup(discrete_plant=True, add_contact_viz=True, add_zoh=True, add_latch=False, clean_plant_state=False)
Initialize: 0
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Initialize: 1
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Post-Init
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Run
t: 0.25
x_a: [0.125 0. ]
u: [-0.]
Good!
[ good 4 ]
Setup(discrete_plant=True, add_contact_viz=True, add_zoh=True, add_latch=True, clean_plant_state=True)
Initialize: 0
t: 0.0
x_a: [0.125 0. ]
u: [-0.125]
Initialize: 1
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Post-Init
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Run
t: 0.25
x_a: [0.125 0. ]
u: [-0.]
Good!
[ bad ]
Setup(discrete_plant=True, add_contact_viz=True, add_zoh=True, add_latch=True, clean_plant_state=False)
Initialize: 0
t: 0.0
x_a: [0.125 0. ]
u: [-0.125]
Initialize: 1
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Post-Init
t: 0.0
x_a: [0.125 0. ]
u: [-0.]
Run
t: 0.25
x_a: [ 0.1171875 -0.03125 ]
u: [-0.]
Failed as expected: BadVelocity()
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