Torque Term#

Objective term for minimizing actuator torques in motion optimization.

class biosym.objectives.torque_term.Objective(model, settings, **kwargs)#

Bases: BaseObjective

Objective term for minimizing torques.

get_gradient()#
Returns:

The gradient of the objective function.

get_objfun()#
Returns:

The objective function.

biosym.objectives.torque_term.objfun(states_list, globals_dict, settings, info)#

Evaluate the objective function.

Parameters:

  • model – biosym model object.

  • states_list – Dictionary containing the current states.

  • settings – Settings for the objective function.

  • info – Information about the objective function.

Returns:

The evaluated value of the objective function.