Issues with implementing MocoJointReactionGoal

[Kaitlyn Downer]

Hi,

I was trying to add the MocoJointReactionGoal to my problem, but I have encountered the following issue. When I look at the log file, there is nothing under joint path, loads frame, or expressed.

Log.png (6.7 KiB) Viewed 1083 times

Here is how I added the goal in my code:

JointReactionCode.png (16.34 KiB) Viewed 1083 times

I appreciate any help on why this might be happening.

- Kaitlyn

[Nicholas Bianco]

Hi Kaitlyn,

Could you try moving the line 'problem.addGoal(jointReaction);` to the bottom of the code snippet and see if that works? This might be a bug where setting certain values to the goal after adding it to the problem does not apply them properly.

Best,
Nick

[Kaitlyn Downer]

Hi Nick,

Thank you for your response. I originally had 'problem.addGoal(jointReaction);` at the end as you described, but I moved it up based on seeing a different forum post. I tried placing it at the end again and running, but I encountered the same issue where the joint path, loads frame, and expressed are all blank in the log.

Best,
Kaitlyn

[Nicholas Bianco]

Hi Kaitlyn,

Hmm, that's odd. There's nothing in the source code that obviously suggest why some things are printed and other are not. Does the goal seem to be working as intended when you solve your problem? You can check in the header of the solution file to see if the joint reaction goal objective term has a non-zero value.

Best,
Nick

[Kaitlyn Downer]

Nick,

Thanks for suggesting to check the solution file. The joint reaction goal has a non-zero value, So I assume it is being added and maybe just not being displayed in the log properly.

Kaitlyn

[Nicholas Bianco]

Hi Kaitlyn,

Good to know! I've filed an issue to track this. If you believe that there are any issues beyond just printing the settings, please let me know.

Best,
Nick