Jason K. Moore
Jason K. Moore
I changed the problem to simply find a solution from state 1: standing still upright to state 2: standing still upright 2 meters in front of the state 1 and...
https://github.com/csu-hmc/opty/pull/29/commits/9a8f08fcd2fda577e33b8160d509eb4fb14bb96a gives: https://github.com/user-attachments/assets/d76e7cc6-3bd9-4efa-a5c2-f1cbb401e11b
Yes, that example is basically a reproduction of Ton's original paper.
I think I finally got the actual solution (changed back to the periodic solution!): 
> Can you let it take a few more steps - maybe even nicer. Actually no, as it is just the periodic solution. You can loop the animation.
 That's definitely it!
@Peter230655 your suggestion for the average speed constraint with `a.diff(t) -1 = 0` was key to getting this! Thank you.
@Peter230655 would you like to review this for me? I have it 99% there, maybe I'll tweak a couple things. But it is ready for a review if you are...
> Where can I find it https://github.com/csu-hmc/gait2d
Oh that function is in opty.utils.