Constrain the problem to result in gait-like locomotion.

[VDB-Bram]

Is your feature request related to a problem? Please describe.

Yes. In simulations I often find local minima where the model performs non-gait locomotion, e.g. single-legged hopping.

Describe the solution you'd like

Reformulate the OCP to reflect different phases during locomotion. E.g. for each side (R and L) you create two possible configurations; contact (C) or non-contact (NC). As input to the problem you can then give a sequence of these configurations, e.g. in the format [R -L (phase 1), R - L (phase 2),...] (C - NC, C - C, NC - C, C - C)

Describe alternatives you've considered

Add a constraint such that somewhere between 10 and 40% of the GC the right GRFy is above a threshold and between 60 and 100% the left GRFy is above a threshold. This would enforce a gait-like motion. I will try to implement this as a quick and dirty temporary solution.

Additional context

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Are you willing to contribute in the development of this feature?

Yes

[Erik-Meilak]

Hello,
I was wondering if there had been any development on this that you might be able to share? I have been looking into simulating realistic running gait and all my simulations are resulting in limited knee flexion during the swing phase. Do you have any tips/methods which could constrain a certain coordinate at a particular point in the gait cycle? Many thanks