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2020-07-12: Added Bhargava2004 metabolics model with options for smooth approximations; example2DWalkingMetabolics features a tracking simulation of walking that includes minimization of the metabolic cost of transport.
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2020-06-08: Moco uses OpenSim's new message logging system.
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2020-06-01: Introduce MocoGoal::getStageDependency() to improve efficiency of goals.
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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.
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2020-05-24: Expose MocoAccelerationTrackingGoal in Matlab and Python.
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2020-05-16: Moved ActivationCoordinateActuator from opensim-moco to opensim-core.
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2020-05-11: Update names of mesh files in 2D_gait.osim.
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2020-05-11: Add outputs to DeGrooteFregly2016Muscle for passive elastic and damping forces.
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2020-05-11: Fix an updated function name in exampleSquatToStand.m.
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2020-04-16: Added exampleKinematicConstraints.py to visualize how Moco handles kinematic constraints for a simple planar point mass.
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2020-04-03: Added missing MATLAB and Python commands for getting/setting derivative and multiplier variables to the bindings.
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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
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2020-03-27: Fix bug in MocoPeriodicityGoal that prevented convergence when constraining control variables.
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2020-03-25: Fixed an error that occurs when using ModOpRemoveMuscles.
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2020-03-15: exampleMocoInverse now employs electromyography data with a MocoControlTrackingGoal.
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2020-03-15: MocoControlTrackingGoal provides more flexibility when associating control signals with reference data.
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2020-03-10: The default parameters for createPeriodicTrajectory() are fixed (pelvis_rotation and lumbar_rotation are now properly negated).
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2020-02-06: example2DWalking now includes a MocoContactTrackingGoal (thanks to Brian Umberger and Antoine Falisse).
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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).
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2020-01-28: Added a projection setting to MocoFrameDistanceConstraint.
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2020-01-27: MocoContactTrackingGoal now handles scenarios where contact spheres are distributed across multiple bodies.
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2020-01-15: MocoContactTrackingGoal allows minimizing the error between compliant contact forces and experimentally measured contact forces.
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2020-01-10: MocoSolution now provides a breakdown of terms in the cost (only when using MocoCasADiSolver).
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2020-01-08: exampleSitToStand renamed to exampleSquatToStand.
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2019-12-24: Added a bisection root solver.
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2019-12-17: Fix a bug in report.py related to the now nonexistent STOFileAdapter.read.
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2019-12-12: Added MocoFrameDistanceConstraint.
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2019-12-11: Add MocoOutputGoal, allowing any scalar model output to be used as as a goal.
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2019-12-11: ActivationCoordinateActuator now provides default activation bounds equal to its control bounds.
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2019-12-11: Add ModOpFiberDampingDFG to set the fiber damping for all DeGrooteFregly2016Muscles in a model.
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2019-12-10: Add an example for MocoInverse in MATLAB, Python, and C++.
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2019-12-10: Update the Simbody dependency to version 3.7.
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2019-12-09: MocoTrajectory::isCompatible() gives more details when provided with an incompatible problem.
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2019-12-08: Include support for OpenSim's C3DFileAdapter.
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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.
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2019-12-04: Removed support for approximating GeometryPaths with a generic function.
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2019-12-02: Fixed multiple examples by updating "cost" to "goal", and other such changes. Fixed exampleMocoTrack by ignoring tendon compliance.
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2019-12-02: Add a MATLAB MocoTrajectory plotting utility, osimMocoTrajectoryReport.m. This has the same functionality as report.py in Moco's python package.
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2019-11-28: Brian Umberger contributed a Matlab version of example2DWalking, which contains a 2-D prediction of walking.
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2019-11-26: Consistently refer to MocoTrajectories as "trajectory" instead of "iterate".
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2019-11-25: Update SmoothSphereHalfSpaceForce to visualize contact forces in the Simbody visualizer (not the OpenSim GUI).
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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.
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2019-11-18: Updates to report.py linewidth and legend formatting.
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2019-11-18: Exporting controls to TimeSeriesTable via MocoTrajectory::exportToControlsTable().
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2019-11-18: Utility createPeriodicTrajectory() now properly handles antisymmetric coordinate position, speed, and actuator variables.
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2019-11-18: Add a "Getting started" page to the User Guide.
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2019-11-09: Improve the reliability of building the Ipopt dependency by using more stable servers for downloading Metis and MUMPS.
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2019-10-30: ModelFactory::replaceMusclesWithPathActuators() now adds the PathActuators to the Model's ForceSet, and the connectee names for PathPoints are now valid.
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2019-10-30: Solvers print the date and time before and after solving a problem.
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2019-10-27: DeGrooteFregly2016Muscle::replaceMuscles() now carries over the appliesForce property. This affects ModOpReplaceMusclesWithDeGrooteFregly2016 as well.
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2019-10-19: configureMoco.m adds Moco's Matlab Utilities directory to the Matlab path, and removes any detected OpenSense beta installations from Matlab.
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2019-10-18: MocoInverse has separate properties for constraint and convergence tolerances.
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2019-09-28: exampleSlidingMassAdvanced.cpp and exampleMocoCustomEffortGoal show how to create a custom goal class.
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2019-11-05: Updated the documentation to contain a list of all examples.
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2019-10-16: Fix a bug in ModOpScaleMaxIsometricForce, where the scale factor was not used properly.
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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.
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2019-10-04: MocoControlGoal weights can be specified via regular expression patterns.
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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.
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2019-09-29: Remove INDYGO and GlobalStaticOptimization from Moco.
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2019-09-23: MocoControlGoal has properties "exponent" and "divide_by_displacement".
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2019-09-05: MocoAverageSpeedGoal was added.
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2019-08-29: Users now interface with num_mesh_intervals instead of num_mesh_points when setting times to sample.
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2019-08-20: Periodicity of the states and/or controls can now be enforced with a negated MocoPeriodicityGoalPair added via addNegatedStatePair or addNegatedControlPair respectively.
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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.
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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.
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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).
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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).