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Moco Change Log

1.4.0

  • 2024-08-30: Added MocoInverse::initializeKinematics() to allow users to retrieve kinematics after converting the MocoInverse to a MocoStudy.

  • 2024-08-26: Changed all printDescription() and printDescriptionImpl() methods to log at level info instead of cout.

  • 2024-08-21: Added support for the 'projection' method for enforcing kinematic constraints from Bordalba et al. (2023) to MocoCasADiSolver. This method allows enforcing kinematic constraints with any transcription scheme and can be enabled using by setting the property kinematic_constraint_method to 'Bordalba2023'. The existing default method from Posa et al. (2016) can also be specified using 'Posa2016'.

  • 2024-08-21: The MocoSolver properties interpolate_control_midpoints and enforce_path_constraint_midpoints have been renamed to interpolate_control_mesh_interior_points and enforce_path_constraint_mesh_interior_points, respectively. This change was made to clarify that these properties apply to the new Legendre-Gauss and Legendre-Gauss-Radau transcription schemes which have collocation points in the mesh interval interior that do not necessarily coincide with the mesh interval midpoints (unlike Hermite-Simpson transcription).

  • 2024-08-15: Added MocoExpressionBasedParameterGoal to enable minimizing any arithmetic expression of parameter values.

  • 2024-07-26: Added MocoStateBoundConstraint and MocoOutputBoundConstraint to enable bounding state variables or output values by one or two Functions, similar to MocoControlBoundConstraint.

  • 2024-07-22: Added support for MocoOutputGoals and MocoOutputConstraints that are composed of two Outputs. This applies to all types of Output goals (MocoInitialOutputGoal, MocoFinalOutputGoal, etc.). The two Outputs can be combined by addition, subtraction, multiplication, or division.

  • 2024-07-08: Fixed a bug in DeGrooteFregly2016Muscle where updates to properties pennation_angle_at_optimal, optimal_fiber_length, max_contraction_velocity, and tendon_strain_at_one_norm_force during parameter optimization did not affect certain model calculations, and as a result were not changing during optimization.

1.3.1

  • 2024-07-08: Fixed a bug where deserialization of an OpenSim model with the Bhargava2004SmoothedMuscleMetabolics component would not properly set the muscle masses listed, resulting in incorrect metabolics values being computed.

  • 2024-04-29: Added support for optimizing "Input controls" associated with InputControllers in a model. Support includes updates to the MocoProblem interface (e.g., setInputControlInfo()) and MocoTrajectory (e.g., getInputControlsTrajectory(), generateControlsFromModelControllers()). MocoGoals and MocoPathConstraints have been updated to support Input controls. See the Moco User Guide for details.

  • 2024-04-01: Added MocoGeneralizedForceTrackingGoal to enable joint moment tracking in MocoProblems, and added the utility calcGeneralizedForces() to MocoStudy for computing joint moments from a MocoTrajectory. Added a sub-example to exampleMocoTrack (C++, Python, and Matlab) to feature this new functionality.

  • 2024-02-13: Models with PrescribedControllers are now supported by Moco. Controls for actuators controlled by PrescribedControllers are now excluded from the optimization problem.

1.3.0

  • 2023-11-22: exampleMocoTrack and exampleMocoInverse (C++ and scripting examples) have been updated to use the new FunctionBasedPath functionality. In addition, problem and solver settings have been modified for to produce better muscle activity solutions.

  • 2023-11-08: Fixed a bug where MocoTrajectory::generateSpeedsFromValues() was accidentally deleting auxiliary state values.

  • 2023-10-25: Fixed a bug preventing deserialization of MocoFrameDistanceConstraint.

  • 2023-10-25: Locked coordinates are now explicitly disallowed in MocoProblems, since they lead to NaNs values during optimization. A warning is now printed for bodies with zero mass since this also leads to NaNs for ill-defined models.

  • 2023-09-20: Moved setDivideByDisplacement and setDivideByMass to base MocoGoal class and added MocoGoal::setDivideByDuration. All MocoGoals can now use these methods to normalize goal values.

  • 2023-08-25: Added the pseudospectral transcription schemes CasOCLegendreGauss and CasOCLegendreGaussRadau, which are compatible with MocoCasADiSolver.

1.2.1

  • 2023-03-21: Fixed a bug where failing MocoProblems with path constraints returned a zero time vector.

  • 2023-03-08: Added MocoTrajectory::trimToIndices.

  • 2023-02-25: Added getSphereForce, getHalfSpaceForce, and associated Outputs sphere_force and half_space_force to SmoothSphereHalfSpaceForce.

  • 2023-01-24: Added convenience methods MocoGoal::setEndpointConstraintBounds and MocoGoal::getEndpointConstraintBounds.

  • 2023-01-03: Add center of pressure calculations to MocoUtilities::createExternalLoadsTableForGait.

  • 2022-07-25: Added property normalize_tracking_error to MocoContactTrackingGoal to normalize the 3D contact tracking error based on the contact tracking data.

1.2.0

  • 2023-01-19: Added MocoOutputExtremumGoal.

  • 2022-09-07: Added MocoContactImpulseTrackingGoal.

  • 2022-06-03: Fixed bug that was breaking marker tracking problems when using MocoTrack::setMarkersReferenceFromTRC().

  • 2022-04-15: Added MocoInitialOutputGoal, MocoFinalOutputGoal, MocoOutputPeriodicityGoal, MocoOutputTrackingGoal, and MocoOutputConstraint.

  • 2022-03-25: Fixed a bug where calculations from MocoStudy::analyze() were incorrect because DeGrooteFregly2016Muscle auxiliary variables were not included in the SimTK::State. Added convenience accessors to MocoTrajectory and fixed a bug where MocoTrajectory::generateAccelerationsFromValues() and MocoTrajectory::generateAccelerationsFromSpeeds() were overwriting non-acceleration derivatives in the trajectory.

  • 2022-02-10: Added option to MocoCasADiSolver to enforce MocoPathConstraints at mesh interval midpoints when using Hermite-Simpson collocation (via the property 'enforce_path_constraint_midpoints').

  • 2022-02-01: Updated MocoOutputGoal to support SimTK::Vec3 and SimTK::SpatialVec types and custom integrand exponents.

  • 2022-01-25: Added option for automatic variable scaling based on trajectory variable bounds to MocoCasADiSolver via the property 'scale_variables_using_bounds'.

  • 2021-11-18: Implemented fix for DeGrooteFregly2016Muscle so that optimal fiber lengths and tendon slack lengths are scaled when using the ScaleTool.

  • 2021-11-17: Added Matlab and Python support for MocoAngularVelocityTrackingGoal. Fixed Matlab and Python issues with MocoOrientationTrackingGoal::setRotationReference(); this method is now overloaded to accept tables of type TimeSeriesTableQuaternion.

1.1.0

  • 2021-07-13: Added MocoStepTimeAsymmetryGoal, MocoStepLengthAsymmetryGoal, and example2DWalkingStepAsymmetry (Matlab).

  • 2021-07-09: Added MocoScaleFactor support for MocoStateTrackingGoal, MocoMarkerTrackingGoal, and MocoContactTrackingGoal.

  • 2021-06-29: Added Matlab version of example2DWalkingMetabolics (via Brian Umberger).

  • 2021-06-28: Added exampleIMUTracking (Matlab and Python) for TGCS 2021.

  • 2021-06-28: Added exampleEMGTracking (Matlab and Python) for TGCS 2021.

  • 2021-06-28: Added support for optimized scale factors including the component MocoScaleFactor, and interface for MocoGoals to add scale factors to a MocoProblem (e.g., MocoControlTrackingGoal::addScaleFactor).

  • 2021-02-24: Updated MocoAccelerationTrackingGoal to add support for tracking acceleration signals from inertial measurement units.

1.0.0

  • 2021-01-11: An Exception is now thrown if the model includes joints whose generalized speeds do not match the derivative of the generalized coordinates (i.e., BallJoint, FreeJoint, EllipsoidJoint, and ScapulothoracicJoint).

  • 2020-12-10: Fixed bugs where ModOpReplaceMusclesWithDeGrooteFregly2016 didn't include the muscle PathWrapSet and muscle wrapping wasn't thread-safe (preventing parallelization with MocoCasADiSolver).

  • 2020-11-17: Add support for solving a MocoStudy to opensim-cmd.

  • 2020-08-19: DeGrooteFregly2016Muscle now reports the equilibrium residual as a unitless quantity (normalized by maximum isometric force).

  • 2020-08-17: The analyze() utility function has been split into a new analyze() function that takes a StatesTrajectory and an analyzeMocoTrajectory() function that takes a MocoTrajectory.

  • 2020-08-11: TableProcessor::processRadians() is renamed to processAndConvertToRadians().

  • 2020-08-10: The MocoStudy property write_solution was split into separate write_solution (bool) and results_directory properties. MocoStudy no longer write the solution to file by default.

  • 2020-08-07: MocoStudy::setModelCopy() and MocoPhase::setModelCopy() are renamed as setModelAsCopy()

  • 2020-07-30: MocoTrack::solve() no longer takes a boolean argument for visualizing the solution. Use MocoTrack::solveAndVisualize() instead.

  • 2020-07-28: TableProcessor no longer automatically coverts tables from degrees to radians. Use TableProcessor::processRadians() or TabOpConvertDegreesToRadians instead.

  • 2020-07-15: Add exampleHangingMuscle.cpp and exampleHangingMuscle.py that show how to use MuscleAnalysis and metabolic probes with a Moco solution.

  • 2020-07-15: Fix an issue with the DeGrooteFregly2016Muscle that caused MuscleAnalysis to produce NaNs for certain quantities.

  • 2020-06-22: Moco can be built without CasADi, and the functions MocoCasADiSolver::isAvailable() and MocoTropterSolver::isAvailable() are added.

  • 2020-06-20: Use a more recent commit of CasADi from github.com/casadi (instead of using our own fork).

  • 2020-06-08: Moco uses OpenSim's new message logging system.

  • 2020-06-01: Introduce MocoGoal::getStageDependency() to improve efficiency of goals.

  • 2020-06-01: MocoSolvers no longer directly set the model's control cache. Instead, Moco adds a DiscreteController to the model and the solvers modify the DiscreteController's control signals. This change allows Moco to support synergies in the future.

  • 2020-05-24: Expose MocoAccelerationTrackingGoal in Matlab and Python.

  • 2020-05-16: Moved ActivationCoordinateActuator from opensim-moco to opensim-core.

  • 2020-05-11: Update names of mesh files in 2D_gait.osim.

  • 2020-05-11: Add outputs to DeGrooteFregly2016Muscle for passive elastic and damping forces.

  • 2020-05-11: Fix an updated function name in exampleSquatToStand.m.

  • 2020-04-16: Added exampleKinematicConstraints.py to visualize how Moco handles kinematic constraints for a simple planar point mass.

0.4.0

  • 2020-04-03: Added missing MATLAB and Python commands for getting/setting derivative and multiplier variables to the bindings.

  • 2020-03-29: (backwards-incompatible) Updated opensim-core to a version that includes SmoothSphereHalfSpaceForce. Therefore, SmoothSphereHalfSpaceForce was removed from Moco. The interface of this class has been updated to use OpenSim's ContactSphere and ContactHalfSpace classes. See the following link for how to update your models: https://github.com/opensim-org/opensim-moco/commit/ccd39f82acba5f23ebc3423eb40d2197d6d41d8b#diff-eb627df1f2a265a84a30b7c6b4f92999

  • 2020-03-27: Fix bug in MocoPeriodicityGoal that prevented convergence when constraining control variables.

  • 2020-03-25: Fixed an error that occurs when using ModOpRemoveMuscles.

  • 2020-03-15: exampleMocoInverse now employs electromyography data with a MocoControlTrackingGoal.

  • 2020-03-15: MocoControlTrackingGoal provides more flexibility when associating control signals with reference data.

  • 2020-03-10: The default parameters for createPeriodicTrajectory() are fixed (pelvis_rotation and lumbar_rotation are now properly negated).

  • 2020-02-06: example2DWalking now includes a MocoContactTrackingGoal (thanks to Brian Umberger and Antoine Falisse).

  • 2020-01-29: DeGrooteFregly2016Muscle's passive force multiplier now has a stiffness parameter. To support this change, the curve was tweaked slightly. This may have a minor effect on solutions relying on passive fiber forces. The maximum difference between the new and old passive force-length curves is 0.07 (unitless).

  • 2020-01-28: Added a projection setting to MocoFrameDistanceConstraint.

  • 2020-01-27: MocoContactTrackingGoal now handles scenarios where contact spheres are distributed across multiple bodies.

0.3.0

  • 2020-01-15: MocoContactTrackingGoal allows minimizing the error between compliant contact forces and experimentally measured contact forces.

  • 2020-01-10: MocoSolution now provides a breakdown of terms in the cost (only when using MocoCasADiSolver).

  • 2020-01-08: exampleSitToStand renamed to exampleSquatToStand.

  • 2019-12-24: Added a bisection root solver.

  • 2019-12-17: Fix a bug in report.py related to the now nonexistent STOFileAdapter.read.

0.2.0

  • 2019-12-12: Added MocoFrameDistanceConstraint.

  • 2019-12-11: Add MocoOutputGoal, allowing any scalar model output to be used as as a goal.

  • 2019-12-11: ActivationCoordinateActuator now provides default activation bounds equal to its control bounds.

  • 2019-12-11: Add ModOpFiberDampingDFG to set the fiber damping for all DeGrooteFregly2016Muscles in a model.

  • 2019-12-10: Add an example for MocoInverse in MATLAB, Python, and C++.

  • 2019-12-10: Update the Simbody dependency to version 3.7.

  • 2019-12-09: MocoTrajectory::isCompatible() gives more details when provided with an incompatible problem.

  • 2019-12-08: Include support for OpenSim's C3DFileAdapter.

  • 2019-12-04: Updated the version of OpenSim used by Moco. As a result, we removed the utility readTableFromFile(). Use the TimeSeriesTable constructor instead, which accepts a filename.

  • 2019-12-04: Removed support for approximating GeometryPaths with a generic function.

  • 2019-12-02: Fixed multiple examples by updating "cost" to "goal", and other such changes. Fixed exampleMocoTrack by ignoring tendon compliance.

  • 2019-12-02: Add a MATLAB MocoTrajectory plotting utility, osimMocoTrajectoryReport.m. This has the same functionality as report.py in Moco's python package.

  • 2019-11-28: Brian Umberger contributed a Matlab version of example2DWalking, which contains a 2-D prediction of walking.

  • 2019-11-26: Consistently refer to MocoTrajectories as "trajectory" instead of "iterate".

  • 2019-11-25: Update SmoothSphereHalfSpaceForce to visualize contact forces in the Simbody visualizer (not the OpenSim GUI).

  • 2019-11-22: Introduce TabOpUseAbsoluteStateNames to convert column labels
    from IK solutions pre-4.0 states files to use new-style column labels.

  • 2019-11-20: Added MocoAngularVelocityTrackingGoal and MocoAccelerationTrackingGoal in anticipation of supporting applications using IMU data in the future.

  • 2019-11-18: Updates to report.py linewidth and legend formatting.

  • 2019-11-18: Exporting controls to TimeSeriesTable via MocoTrajectory::exportToControlsTable().

  • 2019-11-18: Utility createPeriodicTrajectory() now properly handles antisymmetric coordinate position, speed, and actuator variables.

  • 2019-11-18: Add a "Getting started" page to the User Guide.

  • 2019-11-09: Improve the reliability of building the Ipopt dependency by using more stable servers for downloading Metis and MUMPS.

  • 2019-10-30: ModelFactory::replaceMusclesWithPathActuators() now adds the PathActuators to the Model's ForceSet, and the connectee names for PathPoints are now valid.

  • 2019-10-30: Solvers print the date and time before and after solving a problem.

  • 2019-10-27: DeGrooteFregly2016Muscle::replaceMuscles() now carries over the appliesForce property. This affects ModOpReplaceMusclesWithDeGrooteFregly2016 as well.

  • 2019-10-19: configureMoco.m adds Moco's Matlab Utilities directory to the Matlab path, and removes any detected OpenSense beta installations from Matlab.

  • 2019-10-18: MocoInverse has separate properties for constraint and convergence tolerances.

  • 2019-09-28: exampleSlidingMassAdvanced.cpp and exampleMocoCustomEffortGoal show how to create a custom goal class.

0.1.0-preprint

  • 2019-11-05: Updated the documentation to contain a list of all examples.

  • 2019-10-16: Fix a bug in ModOpScaleMaxIsometricForce, where the scale factor was not used properly.

  • 2019-10-12: Add GetMocoVersion(), GetMocoVersionAndDate() to provide the git commit hash and commit date. The opensim-moco command-line tool now has a --version flag to print the Moco version.

  • 2019-10-04: MocoControlGoal weights can be specified via regular expression patterns.

  • 2019-10-04: report.py can plot normalized tendon force states. Users can provide a MocoStudy file instead of a Model file, and users can specify the name of the report output file.

  • 2019-09-29: Remove INDYGO and GlobalStaticOptimization from Moco.

  • 2019-09-23: MocoControlGoal has properties "exponent" and "divide_by_displacement".

  • 2019-09-05: MocoAverageSpeedGoal was added.

  • 2019-08-29: Users now interface with num_mesh_intervals instead of num_mesh_points when setting times to sample.

  • 2019-08-20: Periodicity of the states and/or controls can now be enforced with a negated MocoPeriodicityGoalPair added via addNegatedStatePair or addNegatedControlPair respectively.

  • 2019-07-18: Periodicity of the states and/or controls can be enforced with MocoPeriodicityGoals that impose equality of the initial and final state/control values.

  • 2019-07-18: Three new methods for MocoTrajectory are now available to compute missing states trajectory data given existing data. For example, you may now use a guess generated for explicit dynamics in implicit dynamics by calling generateAccelerationsFromSpeeds() on the guess before passing it to the solver.

  • 2019-07-15: MocoGoals can be enforced either as objective terms or as endpoint constraints. Applying a MocoGoal as an endpoint constraint is supported by MocoCasADiSolver (not MocoTropterSolver).

  • 2019-07-09: Cost terms can now depend on initial states/controls, not just final states/controls. Endpoint and integral costs are combined: a single cost can depend on both an integral and initial/final states/controls. This change is necessary to support costs like metabolic cost of transport, which depends on both the integral of metabolic rate and the difference between final and initial states (for distance traveled).