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...

Hi Ross, Thanks for the questions. 1) I think that is the new behavior in Moco 1.0.0. In my opinion, the output file behavior is an improvement, as it should only write that out if you want, and to the filename that you want (i.e. using solution.write('filename.sto')). The objective and its terms ca...

Hello All, First, a big congratulations to Nick, Chris, and the whole team for the 1.0 release of Moco! It is a major contribution to the biomechanics community. One of the great additions in the new release is a smooth muscle energetics model, contributed by Antoine Falisse. Antoine provided a C++ ...

This is a reply to Mritula: Except for a few additions I made, everything in the Matlab version of example2DWalking is based on a C++ example Antoine Falisse created (located in Resources\Code\CPP). To provide targets for the tracking problem, Antoine used results from walking simulations in his rec...

Hi Ross, You can make the tendon forces periodic in the Matlab example with something like this for i = 1:model.getNumStateVariables() currentStateName = string(model.getStateVariableNames().getitem(i-1)); if endsWith(currentStateName,'/normalized_tendon_force') if contains(currentStateName,'_r') sy...

Hi All, With regards to Aaron's last question, the best source for understanding the implicit formulation and its numerical advantages over the typical explicit formulation for the EOM is this paper by Ton van den Bogert: https://www.ncbi.nlm.nih.gov/pubmed/22102983 and for the muscle model equation...

Hi Karthick, Here is a potential solution that arose in trying to address a similar issue with my own model. After you create the model object, set the tendon compliance dynamics mode to "implicit" modelProcessor.append(ModOpTendonComplianceDynamicsModeDGF('implicit')); You can then comment out the ...

Hi Aaron, I was also considering optimizing contact sphere parameters in one of our application where it might actually be worth the effort. I appreciate the discussion in this thread about whether that is worthwhile, and suggestions for more efficient ways to go about it. Regardless, I do have a pr...

Hello Karthick, Thanks for your patience. I became busy with work and was not checking the forum. For the example, I used a finer mesh and tighter tolerance because in the initial solutions I obtained there were oscillations in the GRFs, which appeared to be due to oscillation in the tendon forces f...