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DifferentialDrivetrainSimTest doesn't converge (sometimes) because of LTVUnicycleController #6630

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Gold856 opened this issue May 16, 2024 · 1 comment
Open

DifferentialDrivetrainSimTest doesn't converge (sometimes) because of LTVUnicycleController #6630

Gold856 opened this issue May 16, 2024 · 1 comment

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@Gold856
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Gold856 commented May 16, 2024 •
edited

DifferentialDrivetrainSimTest.Convergence fails in CI sometimes (1, 2, 3). Earliest failure is from ~2 weeks ago, which correlates with the swap to LTVUnicycleController.
@calcmogul
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Could be measurement noise in the sim. We could try turning that off.

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@calcmogul @Gold856