Set up step 8 and 9 folders

Author: SpencerTWilliams

Step-7-Tracking-Optimization/TorqueDrivenTrackingOptimizationSettings.xml

@@ -210,21 +210,21 @@
 					<RCNLConstraintTerm>
 						<type>torque_model_moment_consistency</type>
 						<load>hip_flexion_r_moment</load>
-						<is_enabled>false</is_enabled>
+						<is_enabled>true</is_enabled>
 						<max_error>0.5</max_error>
 						<min_error>-0.5</min_error>
 					</RCNLConstraintTerm>
 					<RCNLConstraintTerm>
 						<type>torque_model_moment_consistency</type>
 						<load>knee_angle_r_moment</load>
-						<is_enabled>false</is_enabled>
+						<is_enabled>true</is_enabled>
 						<max_error>0.5</max_error>
 						<min_error>-0.5</min_error>
 					</RCNLConstraintTerm>
 					<RCNLConstraintTerm>
 						<type>torque_model_moment_consistency</type>
 						<load>ankle_angle_r_moment</load>
-						<is_enabled>false</is_enabled>
+						<is_enabled>true</is_enabled>
 						<max_error>0.5</max_error>
 						<min_error>-0.5</min_error>
 					</RCNLConstraintTerm>

Step-7-Tracking-Optimization/results/controlSolution.sto

@@ -13,57 +13,57 @@ List of user-set options:
                                      tol = 0.001                 yes
 This is Ipopt version 3.12.9, running with linear solver ma57.
 
-Number of nonzeros in equality constraint Jacobian...:    26526
-Number of nonzeros in inequality constraint Jacobian.:     5563
+Number of nonzeros in equality constraint Jacobian...:    31879
+Number of nonzeros in inequality constraint Jacobian.:     5550
 Number of nonzeros in Lagrangian Hessian.............:        0
 
-Total number of variables............................:     3018
+Total number of variables............................:     3021
                      variables with only lower bounds:        0
-                variables with lower and upper bounds:     3018
+                variables with lower and upper bounds:     3021
                      variables with only upper bounds:        0
-Total number of equality constraints.................:     2126
-Total number of inequality constraints...............:      164
+Total number of equality constraints.................:     2129
+Total number of inequality constraints...............:      151
         inequality constraints with only lower bounds:        0
-   inequality constraints with lower and upper bounds:      164
+   inequality constraints with lower and upper bounds:      151
         inequality constraints with only upper bounds:        0
 
 iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
-   0  9.5303370e+00 3.10e+02 9.34e+00   0.0 0.00e+00    -  0.00e+00 0.00e+00   0
-   1  1.8007526e+00 1.91e+02 8.56e+01  -2.4 1.72e+00    -  9.94e-03 2.66e-01f  1
-   2  1.6337415e+00 1.33e+02 2.04e+02  -1.1 7.26e-01    -  6.76e-01 3.01e-01f  1
-   3  1.3982328e+00 2.74e+01 9.72e+00  -0.9 5.08e-01    -  8.72e-01 7.85e-01f  1
-   4  1.3333514e+00 2.39e-02 1.05e-01  -1.9 1.09e-01    -  9.99e-01 9.90e-01h  1
-   5  1.2351712e+00 3.32e+00 9.32e-01  -2.6 6.09e-02    -  9.51e-01 9.05e-01h  1
-   6  1.2272324e+00 2.16e-01 1.55e+00  -3.3 3.46e-02    -  1.00e+00 9.10e-01h  1
-   7  1.2256577e+00 7.84e-03 5.55e-02  -3.9 5.52e-02    -  1.00e+00 1.00e+00h  1
-   8  1.2234187e+00 1.32e-02 3.20e+00  -5.2 1.37e-01    -  6.79e-01 6.07e-01h  1
-   9  1.2222890e+00 1.48e+00 2.19e+00  -4.4 1.27e-01    -  1.00e+00 7.57e-01h  1
+   0  5.0000000e-01 3.10e+02 3.45e-02   0.0 0.00e+00    -  0.00e+00 0.00e+00   0
+   1  6.8846345e-02 5.75e+01 7.58e+02  -1.3 9.91e-01    -  1.04e-02 9.89e-01f  1
+   2  9.7814199e-02 4.78e+01 8.96e+02  -0.4 3.64e-01    -  1.00e+00 1.58e-01h  1
+   3  1.6121463e-01 1.67e+01 1.06e+00  -1.0 5.47e-01    -  9.85e-01 1.00e+00f  1
+   4  1.8517103e-01 5.69e+00 8.07e-01  -1.8 9.58e-02    -  8.85e-01 1.00e+00h  1
+   5  1.8997161e-01 2.14e+00 4.21e-01  -2.4 8.75e-02    -  9.66e-01 1.00e+00h  1
+   6  1.9113264e-01 2.96e+00 1.28e+00  -3.0 9.32e-02    -  9.96e-01 1.00e+00h  1
+   7  1.9386808e-01 1.98e+00 5.97e-01  -3.6 1.53e-01    -  1.00e+00 1.00e+00h  1
+   8  1.9615704e-01 1.62e+00 9.68e-01  -3.2 6.57e-01    -  9.90e-01 3.90e-01h  2
+   9  1.9985244e-01 1.42e+00 2.23e+00  -2.6 1.05e+00    -  1.00e+00 2.91e-01H  1
 iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
-  10  1.2221967e+00 2.21e+00 1.42e+00  -4.4 1.06e-01    -  9.32e-01 8.10e-01h  1
-  11  1.2219373e+00 3.37e-02 1.11e-03  -5.1 7.48e-02    -  1.00e+00 1.00e+00h  1
-  12  1.2218208e+00 2.42e-01 4.43e-03  -5.5 6.91e-02    -  9.94e-01 1.00e+00h  1
-  13  1.2217552e+00 8.22e-01 2.90e-04  -6.2 8.26e-02    -  1.00e+00 1.00e+00h  1
-  14  1.2217489e+00 5.33e-03 1.05e-04  -5.8 7.37e-02    -  1.00e+00 1.00e+00h  1
-  15  1.2217000e+00 2.56e+00 1.69e-04  -5.9 1.08e-01    -  1.00e+00 1.00e+00h  1
+  10  2.0713586e-01 1.25e+00 1.68e+00  -2.8 2.51e-01    -  1.00e+00 5.00e-01h  2
+  11  2.1390081e-01 8.84e-01 1.39e+00  -3.2 2.65e-01    -  1.00e+00 5.00e-01h  2
+  12  2.3102835e-01 7.36e-01 1.56e+00  -3.3 3.20e-01    -  1.00e+00 1.00e+00h  1
+  13  2.3512500e-01 2.25e-01 2.32e-01  -3.6 8.84e-02    -  1.00e+00 1.00e+00h  1
+  14  2.1009229e-01 3.14e-01 9.99e-02  -4.3 5.24e-02    -  1.00e+00 1.00e+00h  1
+  15  1.6528029e-01 7.34e-01 1.24e-01  -2.7 3.50e+00    -  1.00e+00 1.68e-01h  1
 
 Number of Iterations....: 15
 
                                    (scaled)                 (unscaled)
-Objective...............:   1.2217000091114016e+00    1.2217000091114016e+00
-Dual infeasibility......:   1.6920684714813930e-04    1.6920684714813930e-04
-Constraint violation....:   1.7078980066193486e-01    2.5609357655908278e+00
-Complementarity.........:   1.4191633514183744e-06    1.4191633514183744e-06
-Overall NLP error.......:   1.7078980066193486e-01    2.5609357655908278e+00
+Objective...............:   1.6528029334096322e-01    1.6528029334096322e-01
+Dual infeasibility......:   1.2367509340337575e-01    1.2367509340337575e-01
+Constraint violation....:   4.3567980258314665e-01    7.3379365650057238e-01
+Complementarity.........:   4.0030198204670268e-03    4.0030198204670268e-03
+Overall NLP error.......:   4.3567980258314665e-01    7.3379365650057238e-01
 
 
-Number of objective function evaluations             = 16
+Number of objective function evaluations             = 23
 Number of objective gradient evaluations             = 16
-Number of equality constraint evaluations            = 16
-Number of inequality constraint evaluations          = 16
+Number of equality constraint evaluations            = 23
+Number of inequality constraint evaluations          = 23
 Number of equality constraint Jacobian evaluations   = 16
 Number of inequality constraint Jacobian evaluations = 16
 Number of Lagrangian Hessian evaluations             = 0
-Total CPU secs in IPOPT (w/o function evaluations)   =     17.010
-Total CPU secs in NLP function evaluations           =    278.605
+Total CPU secs in IPOPT (w/o function evaluations)   =      8.707
+Total CPU secs in NLP function evaluations           =    170.301
 
 EXIT: Maximum Number of Iterations Exceeded.