[REQUEST] New DO Cost terms for joint energy and kinematic symmetry
kaylapariser opened this issue · 0 comments
kaylapariser commented
As discussed in the team meeting on 11/7/23, we want to add the following DO cost terms to v1.1:
- Joint_energy_generation_goal: this goal should have an error center and just focus on the positive component of energy (positive area under the curve)
- Joint_energy_absorption _goal: this goal should have an error center and just focus on the negative component of energy
- Kinematic_gait_symmetry_goal: this goals should seek to minimize the error between joint angles of the two limbs; I added "gait" in the name so users know it can only be used for gait right now; but we did not discuss this so it is fine if you choose to leave that out of the cost term name