The objectives functions of 'constraint_task_quat' and 'constraint_task_quat_muscles_degroote' were adjusted for the OCP which were defined using values q and tau values provided by a previous version of the inverse kinematics script. The tau values were incorrectly generated and remained constant for all frames and the q values were also different.
However, if the .txt files are correctly regenerated with the current version of the inverse kinematics script, the OCP won't converge.
The objectives functions of 'constraint_task_quat' and 'constraint_task_quat_muscles_degroote' were adjusted for the OCP which were defined using values q and tau values provided by a previous version of the inverse kinematics script. The tau values were incorrectly generated and remained constant for all frames and the q values were also different.
However, if the .txt files are correctly regenerated with the current version of the inverse kinematics script, the OCP won't converge.
Similar issues might arise with other tasks.