Kinematics Tracking Term in Cost Function

[mikayla-schneider]

Hello! I was wondering if anyone has ever tried to implement a kinematics tracking term as part of the cost function that would minimize the difference between "desired" kinematics (that can be provided as an input) and the output simulation kinematics? If not, are there any resources on how to build your own term as part of the cost function? Thanks!

[VDB-Bram]

Hi @mikayla-schneider!

Glad you are using our code and thanks for this question.

This is something that is on our list, but I do currently not have a clear timeline on when this will make it into the repo.

We do not have extensive resources - other then the code itself - on specifics like adding things to the cost function. Regarding the tracking of kinematics you can get some inspiration from @Lars-DHondt-KUL here.

Feel free to contribute to this repo! We have some general guidelines on contributing code.

We'll keep you posted if there is progress on our side through this issue.

Best,
Bram