At the onset of our project, we encountered significant challenges in accurately determining the throwing motion and calculating the joint velocities. One of the main hurdles was formulating an initial throwing pose that ensured each joint attained the requisite velocity at the precise moment/position of release.

Additionally, we faced the complex task of time-normalizing cup pattern data, a necessity due to the irregular intervals of our AR tag history. This step was crucial to maintain the consistency and accuracy of our analyses.

Another technical difficulty we grappled with was AR tag detection. The AR tag exhibited erratic behavior, often abruptly shifting its orientation to an incorrect alignment. This led to significant distortions in our path data logging, resulting in inaccurate and undesirable outcomes.