Hi Aaron, You'll need to modify a few files in the Bindings folder of opensim-core to include your custom classes in the bindings. 1. You need to update one of the OpenSimHeaders_*.h files to include header files for the classes you want to include in the bindings. 2. You need to update one of the *...

Hi Siva, Also, I wanted to ask, whether it can be considered to use the mocoInverse to find the Joint forces by switching off all muscles and taking just the reserve actuators. If it's possible, how can I scale to find the exact joint forces and torques, as at present it's been normalised between -1...

Hi Pasha,

Yes, we will make it a MocoGoal, with options to use it as a cost term or endpoint constraint.

Best,
Nick

We've created the following issue to track this feature request: https://github.com/opensim-org/opensim-core/issues/3860.

It shouldn't be too difficult to implement.

Hi Siva, I realized that I had a typo in my last response. I meant to say that "600 is not an unusually high number". 1. The objective function diverged to bigger values when I keep my reserve actuator limits from (-inf,inf). When i narrow it to 0 to 1. It lowers down to smaller values. If bounding ...

Hi Alexander, If you are referring to extracting intermediate iterations from Moco, this is a known bug that we haven't yet resolved. I tried to fix this recently, but there seems to be some issues on IPOPT's end. You can follow the linked issue to stay updated, but there's no timeline on when this ...

Hi Andrea, I don't think that the GeneralContactSubsystem::getContacts() method is returning what you mean by "the location of the different points of contact between 2 ContactGeometry objects". Rather, it returns an array of Simbody Contact objects, which is something different. I think you want to...

Hi Oliver, Yes, it is possible include parameter optimization in any problem. That error message usually occurs when there is an issue with the initial guess, which can sometimes happen when using the default initial guess (i.e., the midpoint between the variable bounds). Have you check what the ini...

Hi Mohammadreza,

If using the Hermite-Simpson collocation scheme (the default), then there are three time points per mesh interval. This means that there will be 2*N + 1 time points in the trajectory, where N is the number of mesh intervals.

Best,
Nick

Hi Pasha, I think it's possible to have one solution for both use cases. I'm wondering if something like a "MocoExpressionBasedParameterGoal" would make sense here. You could point to a parameter in the model/problem, and write an expression (similar to classes like ExpressionBasedCoordinateForce ) ...