Add a vertical hopper for param opt

[avikde]

Similar to MSD overall, but contains parameters for the leg design.

Fully actuated, so avoids the unactError issue of #80

Inspired by

Instead use

TODO:

• stuff
• initial traj debug
• opt setting damping too high
• increasing ma is resulting in lower T
• bad match between traj2, traj3
• scale with length scale as in W2D. One idea is to use Tmin for stroke length (piezo) or use a smaller force lim, higher stroke lim (EM) and show how reflected actuator properties become important in EM

[avikde]

The opt results seem garbage

[avikde]

With some bigger limits:

0.725454 0.1 157.156

so non-trivial results

[avikde]

Fixing the initial traj

Now tracks correctly

Pos and vel of truncated 1 period

Now the initial traj makes sense

[avikde]

traj2/traj3 match

• became worse with 9005266
• fixed in 8605347 but now the opt damping is too high again

[avikde]

With Tmin for limited-stroke piezo actuators

The output traj is very small, and the match between traj2/3 is not good -- Update: fixed in
321d23d

[avikde]

Opt results stiffness/damping etc.

σamax = 100 (high stroke, let's say EM) 0.880476 0.100001 7.21895

σamax = 0.3 (piezo) 39.5397 190.464 7.10956

Conclusion:

• both get approx the same bo... this must be because the traj is not quite sinusoidal and the original bo used deformed the traj in a way that is found by the opt in both cases

[avikde]

Some scaling results

Top: for piezo

Bottom: scale=1, look as a function of max stroke

[avikde]

Need to make this more interesting:

• leg linkage? to show evolving leg shape
• as a function of actuator mass?