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Is there any difference of adding separate MocoGoal or adding second cost in the one MocoGoal.
Is it different approach, or it have different numerics.

Hi Barak,

What do you mean by adding a second cost in one MocoGoal? Maybe you could specify which MocoGoal you're using to clarify.

Thanks,
-Nick

i wrote my own costumized goal which minimize vertical x movement at end time and i also want to minimize reaction force at end time.
also i have integral of effort for example
i can write on the same mocogoal cost[0]=uy(tend); cost[1]=fy(tend); cost[2]=input.integral
and setRequirements(1, 3);

or write different goal for fy(tend) with setRequirements(0, 1);
and different goal for uy(tend) + minimal effort with setRequirements(1, 2);

is there any difference in separating goals?