Based on Cait Clancy's cycling project, where we are trying to solve a MocoInverse problem while bounding the excitations for certain muscles. The control bound constraint is violated at the midpoint of each mesh interval because control interpolation at mesh interval midpoints is disabled when using MocoInverse and path constraints are not enforced at mesh interval midpoints by default.
One solution is to add an option to enforce path constraints at mesh interval midpoints.
nickbianco
commented
2 years ago
Based on Cait Clancy's cycling project, where we are trying to solve a MocoInverse problem while bounding the excitations for certain muscles. The control bound constraint is violated at the midpoint of each mesh interval because control interpolation at mesh interval midpoints is disabled when using MocoInverse and path constraints are not enforced at mesh interval midpoints by default.
One solution is to add an option to enforce path constraints at mesh interval midpoints.