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I am running a jumping data set to run through RRA and CMC. After I change kp and kv to 2000 and 100, it went through without problem. I compared the original data with RRA's results and they seem to match pretty well. However, the CMC failed every time even after I modified kp and kv to 2000 and 100, and the optimal_force to 50 of reserve in the actuator file. It failed at the very first frame of simulation with the following error message:

SimTK Exception thrown at InteriorPointOptimizer.cpp:249:
Optimizer failed: Ipopt: Restoration failed (status -2)
OPTIMIZATION FAILED...

rdCMC.computeControls: WARN- The optimizer could not find a solution at time = 1.121000.
If using the fast target, try using the slow target.
Starting at a slightly different initial time may also help.

I tried to to start at different time but still received the same fail message.

Any suggestions

Hi Songning ,

I wonder if you could find any solution for your problem.

Dear,

Have a look here, https://simtk.org/forum/message.php?msg_id=3427

cheers