The trajectory now looks a little bit as intended, so I switched back to the model with the ElasticFoundationForces and the weights for the boat set to zero.
After some fiddling with the weights i now have objective_state_tracking between 0.2 and 1, so it follows the trajectory fairly well.
But the position of the blade is a little bit higher than intended, and consequently there is no friction that would propel the boat. I haven't been able to move the boat at all. Also created a trajectory that has the blade a few cm lower in the stroke, but still no firm contact/friction with the ground. In CMC it works as expected, there the boat is lifted a bit "out of the water".
Somehow gravity doesn't come enough into play with moco. Or it seems that the optimization process avoids the contacts.
Is there something to be done?
I have to set the global weight 100 of so, but to avoid the limit of 3000 iterations the simulation time has to be set at 0.4 seconds or so. That doesn't bode well for larger models.
Thanks, Sietse
PS.I also did an experiment with 2 muscles in the kneejoint. It works fine with CMC, but with moco I get the following runtime error:
Code: Select all
MocoTrack::solve()': No info available for state '/forceset/vastus/fiber_length'.