Hi Lars, Thanks for these comments. We had searched without success for documentation on exactly how CasADi handles the work allocation across threads, and I guess we should have gone straight to the source code. You are right that by using a typical mesh interval progression of ..., 10, 25, 50, ......

Hi All, Thanks for this interesting discussion. We have also recently been comparing the results obtained on different computers as we work on moving some of our projects onto our university's computer cluster. We likewise find different results on different computers. I wanted to add that in our ex...

Thanks, Nick!

And Ross, I don't know... that sounds like a pretty good machine to me for running several simultaneous Moco simulations, each using 4-6 cores!

Brian

Hi David, Are you using the Hermite-Simpson transcription scheme? If so, that results in 2n+1 grid points. See here: https://simtk.org/api_docs/opensim/api_docs/mocotheoryguide.html#mocohermitesimpsontheory "With Hermite-Simpson transcription, we have n+1 mesh points and n mesh intervals like Trapez...

Hi David, I think your summary of our results is accurate. I had not seen the GPU project you linked to. We can't say for certain based on our results, but with the current framework I'm doubtful GPU computing would be fruitful. Even in the best case the speed-up, while certainly beneficial, was far...

Hi All, Over the past couple of years, there have been some discussions about parallel computing in Moco in this forum. Alex Denton, a former PhD student in our group (now a postdoc at Oregon), just published a paper that investigates multicore parallel speed-up in Moco. In the paper, she addresses ...

Hi Carlos, That is a cool rowing simulation. I will preface my reply with two caveats: 1) I do not have nearly as much experience with Python as I do with Matlab, and 2) If your laptop processor only has 2-4 cores, as is often the case, you will be limited as to what you can do with parallelization....

Hi All, I was busy with the end of the semester and some admin duties, so I missed this interesting thread started by Pasha a few weeks ago. I can make two small additions. One of my PhD students, Alex Denton, has an abstract at the ASB meeting this summer on multicore performance in Moco using the ...

Hi Simon, This may not answer all of your questions, but the COIN-OR Foundation website has lots of relevant information about IPOPT. Here is the full list of IPOPT options: https://www.coin-or.org/Bonmin/option_pages/options_list_ipopt.html On that page if you click on the "Convergence" options lin...

Here is a follow-up. If you would like to add a breakdown of the individual terms in the overall objective function to this Matlab code, similar to the output from earlier versions of Moco, here is one way to do it. Add the following code after solution = study.solve(). % Breakdown of terms in objec...