I'm asking Moco to track a mot file. track = osim.MocoTrack() [...] track.set_initial_time(0.07) track.set_final_time(1.45) track.set_mesh_interval(0.05) I do not understand how the frame rate of the solution is calculated. I would assume the frame rate to be 1/meshInterval = 20 fps, and to obtain (...

Thank you for sharing. This gives me the opportunity to ask: if the maximum speed is almost reached with 6 cores, does it mean that GPU computing cannot be leveraged? Do you know [about this](https://simtk.org/projects/gpuexp)? If I understand right, - the NLP function evaluations by CasADi can easi...

Hi all, I am running Moco simulations, and sometimes the server crashes, or the IPOPT optimizer does not converge, etc. Regardless of the reasons, then Python is exited and I lose all variables, in particular my intermediate solution. Is there any way to take a snapshot of my solution every few iter...

Hello, When running IPOPT within Moco, it seems like the number of variables does not add up. Could you help me understand it? Total number of variables............................: 22913 variables with only lower bounds: 0 variables with lower and upper bounds: 22172 variables with only upper bound...

Thanks! I am not really looking into this anymore, but this is definitely a relevant post!

After having read more about inverse kinematics in biomechanics, and about optimization procedures in general, I would tend to think that the method used by OpenSim is a Quasi-Newton one. A Quasi-Newton method is a Newton method that approximates the Hessian matrix, which is computationally expensiv...

It is extremely convoluted, but I think I slowly understand it a little better. OpenSim/Simulation/InverseKinematicsSolver.h calls OpenSim/Simulation/AssemblySolver.h This calls for simbody/internal/Assembler.h (on a completely different repository). According to the doc, it can be used in two ways:...

Wow, I could not hope for a clearer and more complete answer, thank you so much! You also address a lot of the questions I was asking myself about ambiguous terms, which I did not post here in order not to make it overly long. I am still wondering, the page "How inverse kinematics works" that you sh...

Okay, I did a little further reading, and my question boils down to: - The math formulations make me thing that global optimization differs from (local, Jacobian) Levenberg-Marquardt optimization. Is it the case? - If so, how is it that absolutely no robotics/computer animation paper talk about glob...

Thank you! So, if I sum it up: - I don't think there is any way to loosen the tolerance of constraints (I could be wrong), nor to implement soft constraints - I can't use force elements for inverse kinematics (unless I first conduct a static analysis, and then I refine geometry in order to minimize ...