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我想为罗盘步态系统设置轨迹优化（如讲座视频中所暗示的，使用控制权限可以扩大吸引区域以实现稳定行走）。

在尝试DirectTranscription在指南针步态上使用该类时，我遇到了以下问题：

plant = CompassGait()
context = plant.CreateDefaultContext()
DirectTranscription(plant, context, 21, TimeStep(0.01))

导致以下错误：

An exception has occurred, use %tb to see the full traceback.

SystemExit: Failure at bazel-out/k8-opt/bin/systems/framework/_virtual_includes/context/drake/systems/framework/context.h:111 in num_total_states(): condition 'num_abstract_states() == 0' failed.

这个问题有快速的解决方法吗？在查看指南针步态实现时，抽象状态仅用于可视化。原则上，我可以复制指南针步态实现并注释掉抽象状态。但我正在使用 colab notebook 环境，所以我不确定如何轻松做到这一点。

谢谢！

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The DirectCollocation implementation has an option, assume_non_continuous_states_are_fixed which gets around this issue for the rimless wheel example I have here: http://underactuated.mit.edu/contact.html

I'll try to push this feature into DirectTranscription shortly. But you should be able to use DirectCollocation immediately. Does that work?

于 2020-04-15T09:57:13.417 回答