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SpencerTWilliamsSpencerTWilliams
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Torque DO example
1 parent d7837ed commit db0cfdd

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‎Step-7-Tracking-Optimization/TorqueDrivenDesignOptimizationSettings.xml

+105-1
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,85 @@
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<cost_term_type>discrete</cost_term_type>
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<is_enabled>true</is_enabled>
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<marker_name>R_Midfoot_Superior</marker_name>
41-
<initial_speed>1</initial_speed>
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<initial_speed>10</initial_speed>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>coordinate_tracking</type>
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<coordinate>pelvis_tilt</coordinate>
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<is_enabled>true</is_enabled>
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<max_allowable_error>10</max_allowable_error>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>coordinate_tracking</type>
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<coordinate>pelvis_list</coordinate>
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<is_enabled>true</is_enabled>
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<max_allowable_error>10</max_allowable_error>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>coordinate_tracking</type>
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<coordinate>pelvis_rotation</coordinate>
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<is_enabled>true</is_enabled>
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<max_allowable_error>10</max_allowable_error>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>coordinate_tracking</type>
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<coordinate>pelvis_tx</coordinate>
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<is_enabled>true</is_enabled>
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<max_allowable_error>1</max_allowable_error>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>coordinate_tracking</type>
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<coordinate>pelvis_ty</coordinate>
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<is_enabled>true</is_enabled>
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<max_allowable_error>1</max_allowable_error>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>coordinate_tracking</type>
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<coordinate>pelvis_tz</coordinate>
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<is_enabled>true</is_enabled>
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<max_allowable_error>1</max_allowable_error>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>coordinate_tracking</type>
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<coordinate>hip_flexion_r</coordinate>
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<is_enabled>true</is_enabled>
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<max_allowable_error>10</max_allowable_error>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>coordinate_tracking</type>
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<coordinate>hip_adduction_r</coordinate>
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<is_enabled>true</is_enabled>
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<max_allowable_error>10</max_allowable_error>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>coordinate_tracking</type>
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<coordinate>hip_rotation_r</coordinate>
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<is_enabled>true</is_enabled>
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<max_allowable_error>10</max_allowable_error>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>coordinate_tracking</type>
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<coordinate>knee_angle_r</coordinate>
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<is_enabled>true</is_enabled>
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<max_allowable_error>10</max_allowable_error>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>coordinate_tracking</type>
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<coordinate>ankle_angle_r</coordinate>
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<is_enabled>true</is_enabled>
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<max_allowable_error>10</max_allowable_error>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>coordinate_tracking</type>
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<coordinate>subtalar_angle_r</coordinate>
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<is_enabled>true</is_enabled>
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<max_allowable_error>10</max_allowable_error>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>coordinate_tracking</type>
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<coordinate>mtp_angle_r</coordinate>
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<is_enabled>true</is_enabled>
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<max_allowable_error>10</max_allowable_error>
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</RCNLCostTerm>
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<RCNLCostTerm>
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<type>joint_jerk_minimization</type>
@@ -151,78 +229,104 @@
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<target_error>0.278</target_error>
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<is_enabled>true</is_enabled>
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<coordinate>pelvis_tilt</coordinate>
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<max_error>0.01</max_error>
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<min_error>-0.01</min_error>
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</RCNLConstraintTerm>
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<RCNLConstraintTerm>
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<type>final_state_position</type>
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<target_error>-0.215</target_error>
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<is_enabled>true</is_enabled>
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<coordinate>pelvis_list</coordinate>
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<max_error>0.01</max_error>
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<min_error>-0.01</min_error>
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</RCNLConstraintTerm>
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<RCNLConstraintTerm>
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<type>final_state_position</type>
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<target_error>-0.255</target_error>
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<is_enabled>true</is_enabled>
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<coordinate>pelvis_rotation</coordinate>
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<max_error>0.01</max_error>
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<min_error>-0.01</min_error>
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</RCNLConstraintTerm>
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<RCNLConstraintTerm>
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<type>final_state_position</type>
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<target_error>0.264</target_error>
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<is_enabled>true</is_enabled>
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<coordinate>pelvis_tx</coordinate>
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<max_error>0.01</max_error>
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<min_error>-0.01</min_error>
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</RCNLConstraintTerm>
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<RCNLConstraintTerm>
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<type>final_state_position</type>
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<target_error>0.962</target_error>
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<is_enabled>true</is_enabled>
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<coordinate>pelvis_ty</coordinate>
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<max_error>0.01</max_error>
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<min_error>-0.01</min_error>
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</RCNLConstraintTerm>
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<RCNLConstraintTerm>
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<type>final_state_position</type>
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<target_error>0.054</target_error>
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<is_enabled>true</is_enabled>
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<coordinate>pelvis_tz</coordinate>
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<max_error>0.01</max_error>
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<min_error>-0.01</min_error>
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</RCNLConstraintTerm>
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<RCNLConstraintTerm>
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<type>final_state_position</type>
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<target_error>0.382</target_error>
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<is_enabled>true</is_enabled>
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<coordinate>hip_flexion_r</coordinate>
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<max_error>0.01</max_error>
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<min_error>-0.01</min_error>
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</RCNLConstraintTerm>
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<RCNLConstraintTerm>
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<type>final_state_position</type>
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<target_error>-0.221</target_error>
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<is_enabled>true</is_enabled>
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<coordinate>hip_adduction_r</coordinate>
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<max_error>0.01</max_error>
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<min_error>-0.01</min_error>
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</RCNLConstraintTerm>
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<RCNLConstraintTerm>
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<type>final_state_position</type>
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<target_error>0.055</target_error>
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<is_enabled>true</is_enabled>
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<coordinate>hip_rotation_r</coordinate>
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<max_error>0.01</max_error>
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<min_error>-0.01</min_error>
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</RCNLConstraintTerm>
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<RCNLConstraintTerm>
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<type>final_state_position</type>
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<target_error>1.057</target_error>
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<is_enabled>true</is_enabled>
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<coordinate>knee_angle_r</coordinate>
304+
<max_error>0.01</max_error>
305+
<min_error>-0.01</min_error>
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</RCNLConstraintTerm>
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<RCNLConstraintTerm>
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<type>final_state_position</type>
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<target_error>-0.547</target_error>
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<is_enabled>true</is_enabled>
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<coordinate>ankle_angle_r</coordinate>
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<max_error>0.01</max_error>
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<min_error>-0.01</min_error>
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</RCNLConstraintTerm>
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<RCNLConstraintTerm>
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<type>final_state_position</type>
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<target_error>-0.299</target_error>
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<is_enabled>true</is_enabled>
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<coordinate>subtalar_angle_r</coordinate>
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<max_error>0.01</max_error>
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<min_error>-0.01</min_error>
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</RCNLConstraintTerm>
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<RCNLConstraintTerm>
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<type>final_state_position</type>
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<target_error>0.338</target_error>
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<is_enabled>true</is_enabled>
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<coordinate>mtp_angle_r</coordinate>
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<max_error>0.01</max_error>
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<min_error>-0.01</min_error>
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</RCNLConstraintTerm>
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</RCNLConstraintTermSet>
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</RCNLTerminalConstraintTerms>

‎Step-7-Tracking-Optimization/gpopsSettings.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -42,7 +42,7 @@
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<!--nlp tolerance. Must be a positive real number. Default 10e-7-->
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<setup_nlp_tolerance>1e-3</setup_nlp_tolerance>
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<!--nlp max iterations. Must be a positive integer. Default 2000-->
45-
<setup_nlp_max_iterations>20</setup_nlp_max_iterations>
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<setup_nlp_max_iterations>15</setup_nlp_max_iterations>
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<!--display level. Possible values 0 (suppresses all output), 1(only mesh refinement output), 2(iteration and mesh refinement output). Default 2-->
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<setup_display_level>2</setup_display_level>
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<integral_bounds>10</integral_bounds>

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