Choreo adds random curves to paths

[realleo245]

Sometimes, Choreo adds weird curves in the middle of a path.

Adding a point-at constraints makes it take a more normal path

[calcmogul]

Could you upload a project with the issue here so we can troubleshoot? There's an "Export Diagnostic Report" button in the menu.

[realleo245]

choreo-diagnostics-CIOxAgLL.zip

[calcmogul]

OK, I've reproduced the issue on the "Station 1 to A" trajectory with Choreo 2025.0.2 on Linux.

[realleo245]

That's the trajectory with the issue

…

________________________________ From: Tyler Veness ***@***.***> Sent: Tuesday, February 4, 2025 1:30 PM To: SleipnirGroup/Choreo ***@***.***> Cc: Leo ***@***.***>; Author ***@***.***> Subject: Re: [SleipnirGroup/Choreo] Choreo adds random curves to paths (Issue #1190) OK, I've reproduced the issue on the "Station 1 to A" trajectory with Choreo 2025.0.2 on Linux. — Reply to this email directly, view it on GitHub<#1190 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/A3LD7QAFQLQIKDTMLYDI3D32OEWQXAVCNFSM6AAAAABWPROHLOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDMMZVGEYTSMZXG4>. You are receiving this because you authored the thread.Message ID: ***@***.***>

[calcmogul]

Looks like it hit a local minimum. #1123 doesn't fix it either; it has the same issue, even with the point-at constraint included.

[calcmogul]

Turning off the keep-in rect fixes it on both 2025.0.2 and that PR.

[calcmogul]

The duals diverge toward the end of the solve when the keep-in rect is included. This can cause weird issues with the interior-point method's path following and lead to it finding weird local minima.

duals-with-keep-in-rect.txt
duals-without-keep-in-rect.txt

The root cause could be fixed by SleipnirGroup/Sleipnir#483.