Hi Mersad, You definitely want "set_parameters_require_initsystem" to be true. The problem freezing is likely a different issue. How are you setting up the MocoInverse problem? The error shows a SimTK::Stage realization issue, which is a little odd. It seems to be related to the MocoInitialActivati...

Is it insufficient to use ActivationCoordinateActuators along with ExpressionBasedCoordinateForce or CoordinateLimitForce on each dof tuned to some physiological estimates of damping/stiffness? For some of our models, I've been using variations of hyperbolic sine as expressions for mapping coordinat...

While we're making feature requests, I'd like to be able to minimize the square of the metabolic cost, i.e. w*(J/m/kg)^2. I'd also like a pony! Hello, yes I also wanted to raise other terms to another exponent after reading Antoine's paper where I believe he has terms to minimizes joint acceleratio...

Hi, instead of tracking a high value, I was thinking about a maximize or minimize peak Q, Qdot, Udot, or output goal as there are C2-continuous approximations of max() like Log Sum Exp or other smooth maximum functions that get used in machine learning. Though I don't think a custom goal like this w...

Hi Ross, Do you mean that you create a MocoStudy and add the MocoStateTrackingGoal to its problem or that you create a MocoTrack that has the implicit StateTrackingGoal and MocoControlCost term? How do you remove the goal from a problem? Would be interested if you still get poor performance if you u...

Hi Ross, Thank you for your in-depth explanation. I agree that the terminology is a bit confusing, I will have a look at the paper. So by that terminology, you're saying that OpenSim's JointReactionAnalysis reports the "total reaction force", and that you're looking for the "partial reaction force"...

Hi Ross, I believe you want to iterate through the states in the states trajectory and realize the model to accelerations? and you can call calcReactionOnChildExpressedInGround for each relevant joint? This might not be the right call. I had previously used the muscle geometry paths to resolve force...

if you are trying to do some post-hoc analysis with your moco solution in matlab or python, I think you can turn this into a StatesTrajectory and use get(index) to grab states from it states_storage = org.opensim.modeling.Storage(storagePath); states_trajectory = org.opensim.modeling.StatesTrajector...

Hi, quick question. For developing gait tracking simulations and when using ModOpAddExternalLoads() in lieu of a contact tracking goal, does Moco care about the CoP and torques information in your external loads .mot and defined in the .xml or is it like MocoContactTrackingGoal() which specifically ...

If you only want an animation and not the underlying mechanics/ dynamics, wouldn't it be easier to develop something in blender? I've done some TKA visualization using solidworks before.