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CMM-22 / a6

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Ex. 8 Why will sim shadow and transcription trajectory not match? #12

Closed owlxof closed 2 years ago

owlxof commented 2 years ago

After copying the stepExplixitEuler to the transcription app and implementing the objective function there, both the transcription and the simulated trajectory behave completely unexpected. Is this due to bugs in my objective function or am I missing a different part in how this all should be pieced together?

The first screenshot shows the trajectories at startup and the second one shows them after optimization. screenshot_20220526_191837 screenshot_20220526_191542

owlxof commented 2 years ago

Solved: The physics constraints were off because in the precomputation of 1/h, I had .1/h instead of 1./h.

MiguelZamoraM commented 2 years ago

Did you add an objective to enforce the state trajectory to be physically valid? If you implemented such an objective correctly then it should be a matter of increasing the weight/coefficient of that objective.