The HapticGlove coupling matrix regression can silently fail causing the retargeting to not work #123
Description
We recently noticed that sometimes the retargeting does not start on one hand.
Checking the log, we noticed that the corresponding learnt coupling matrices contained nan
28860 4781,924201 RobotController::RightHand:: [axes-joints coupling] Bias-A matrix:
28861 4781,924221 -nan -nan -nan -nan -nan -nan 1.6839e-14 -3.24393e-15 -5.14172e-15
28862 4781,924253 -nan -nan -nan -nan -nan -nan -9.47293e-05 0.000150101 0.000174336
28863 4781,924278 -nan -nan -nan -nan -nan -nan 3.77637e-06 -3.20999e-06 -9.53803e-06
28864 4781,934221 -nan -nan -nan -nan -nan -nan 0 0 0
28865 4781,944277 -nan -nan -nan -nan -nan -nan -0.000181851 -1.43075e-05 -7.10659e-06
28866 4781,944302 -nan -nan -nan -nan -nan -nan 0 0 0
28867 4781,944315 -nan -nan -nan -nan -nan -nan 0 0 0
28868 4781,944327 -nan -nan -nan -nan -nan -nan 1.00008 -3.99134e-05 9.0291e-06
28869 4781,944344 -nan -nan -nan -nan -nan -nan -0.225956 0.371033 -0.00728537
28870 4781,954345 -nan -nan -nan -nan -nan -nan 0.225943 0.477995 0.00723945
28871 4781,954390 -nan -nan -nan -nan -nan -nan 0.00176532 0.0119013 0.337929
28872 4781,954435 -nan -nan -nan -nan -nan -nan -0.0173964 -0.0204783 0.418089
28873 4781,964412 -nan -nan -nan -nan -nan -nan 0.00629571 0.00288404 0.226472
28874 4781,964451 -nan -nan -nan -nan -nan -nan 0.00327127 0.0106662 0.303892
28875 4781,964474 -nan -nan -nan -nan -nan -nan -0.00992028 -0.0174625 0.270478
28876 4781,964497 -nan -nan -nan -nan -nan -nan 0.00547984 0.0047442 0.267673
28877 4781,964520 RobotController::RightHand:: [axes-joints coupling] A (coupling) matrix:
28878 4781,974469 -nan -nan -nan -nan -nan 1.6839e-14 -3.24393e-15 -5.14172e-15
28879 4781,974497 -nan -nan -nan -nan -nan -9.47293e-05 0.000150101 0.000174336
28880 4781,974515 -nan -nan -nan -nan -nan 3.77637e-06 -3.20999e-06 -9.53803e-06
28881 4781,974532 -nan -nan -nan -nan -nan 0 0 0
28882 4781,974546 -nan -nan -nan -nan -nan -0.000181851 -1.43075e-05 -7.10659e-06
28883 4781,974565 -nan -nan -nan -nan -nan 0 0 0
28885 4781,974649 -nan -nan -nan -nan -nan 0 0 0
28886 4781,984538 -nan -nan -nan -nan -nan 1.00008 -3.99134e-05 9.0291e-06
28887 4781,984570 -nan -nan -nan -nan -nan -0.225956 0.371033 -0.00728537
28888 4781,984591 -nan -nan -nan -nan -nan 0.225943 0.477995 0.00723945
28889 4781,984613 -nan -nan -nan -nan -nan 0.00176532 0.0119013 0.337929
28890 4781,994607 -nan -nan -nan -nan -nan -0.0173964 -0.0204783 0.418089
28891 4781,994645 -nan -nan -nan -nan -nan 0.00629571 0.00288404 0.226472
28892 4781,994668 -nan -nan -nan -nan -nan 0.00327127 0.0106662 0.303892
28893 4781,994690 -nan -nan -nan -nan -nan -0.00992028 -0.0174625 0.270478
28894 4781,994712 -nan -nan -nan -nan -nan 0.00547984 0.0047442 0.267673
28895 4782,004669 RobotController::RightHand:: [axes-joints coupling] B (bias) vector:
28896 4782,004705 -nan
28897 4782,004717 -nan
28898 4782,004727 -nan
28899 4782,004737 -nan
28900 4782,014737 -nan
28901 4782,014767 -nan
28902 4782,014783 -nan
28903 4782,014809 -nan
28904 4782,014820 -nan
28905 4782,024805 -nan
28906 4782,024834 -nan
28907 4782,024839 -nan
28908 4782,024845 -nan
28909 4782,024849 -nan
28910 4782,024855 -nan
28911 4782,034877 -nan
28912 4782,034915 QP control coefficient matrix:
28913 4782,034928 -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan
28914 4782,034949 -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan
28915 4782,034968 -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan
28916 4782,034982 -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan
28917 4782,034997 -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan
28918 4782,044936 -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan
28919 4782,045010 -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan
28920 4782,045031 -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan -nan