Ipopt options file

Bindings/Java/Matlab/examples/Moco/example2DWalking/example2DWalking.m

@@ -52,6 +52,9 @@
 % Load the Moco libraries
 import org.opensim.modeling.*;
 
+% Flag to enable or disable the custom ipopt options files.
+USE_CUSTOM_OPTIONS = true;
+
 % ---------------------------------------------------------------------------
 % Set up a coordinate tracking problem where the goal is to minimize the
 % difference between provided and simulated coordinate values and speeds (and
@@ -183,6 +186,16 @@
 problem.setStateInfo('/jointset/ankle_r/ankle_angle_r/value', [-15*pi/180, 25*pi/180]);
 problem.setStateInfo('/jointset/lumbar/lumbar/value', [0, 20*pi/180]);
 
+solver = MocoDirectCollocationSolver.safeDownCast(study.updSolver());
+solver.set_verbosity(2);
+solver.set_optim_solver('ipopt');
+solver.set_optim_convergence_tolerance(1e-4);
+solver.set_optim_constraint_tolerance(1e-4);
+solver.set_optim_max_iterations(1000);
+if (USE_CUSTOM_OPTIONS)
+    % This is a file which contains more custom solver options for ipopt.
+    solver.set_optim_ipopt_opt_filename("track_opt.opt");
+end
 
 % Solve the problem
 % =================
@@ -326,6 +339,10 @@
 solver.set_optim_max_iterations(1000);
 solver.setGuess(gaitTrackingSolution); % Use tracking solution as initial guess
 
+if (USE_CUSTOM_OPTIONS)
+    % This is a file which contains more custom solver options for ipopt.
+    solver.set_optim_ipopt_opt_filename("predi_opt.opt");
+end
 
 % Solve problem
 % =============

OpenSim/Examples/Moco/example2DWalking/CMakeLists.txt

@@ -2,7 +2,9 @@ set(EXAMPLE_2D_WALKING_FILES
         2D_gait.osim
         referenceCoordinates.sto
         referenceGRF.sto
-        referenceGRF.xml)
+        referenceGRF.xml
+        predi_opt.opt
+        track_opt.opt)
 
 OpenSimAddExampleCXX(NAME example2DWalking SUBDIR Moco
     EXECUTABLES example2DWalking example2DWalkingMetabolics

OpenSim/Examples/Moco/example2DWalking/example2DWalking.cpp

@@ -47,6 +47,8 @@
 
 using namespace OpenSim;
 
+bool USE_CUSTOM_OPTIONS = false;
+
 /// Set a coordinate tracking problem where the goal is to minimize the
 /// difference between provided and simulated coordinate values and speeds
 /// (and ground reaction forces) as well as to minimize an effort cost (squared
@@ -185,6 +187,11 @@ MocoSolution gaitTracking(double controlEffortWeight = 10,
     solver.set_optim_constraint_tolerance(1e-4);
     solver.set_optim_max_iterations(1000);
 
+    if (USE_CUSTOM_OPTIONS) {
+        // This is a file which contains more custom solver options for ipopt.
+        solver.set_optim_ipopt_opt_filename("track_opt.opt");
+    }
+
     // Solve problem.
     // ==============
     MocoSolution solution = study.solve();
@@ -318,6 +325,11 @@ void gaitPrediction(const MocoSolution& gaitTrackingSolution) {
     // Use the solution from the tracking simulation as initial guess.
     solver.setGuess(gaitTrackingSolution);
 
+    if (USE_CUSTOM_OPTIONS) {
+        // This is a file which contains more custom solver options for ipopt.
+        solver.set_optim_ipopt_opt_filename("predi_opt.opt");
+    }
+
     // Solve problem.
     // ==============
     MocoSolution solution = study.solve();

OpenSim/Examples/Moco/example2DWalking/predi_opt.opt

@@ -0,0 +1,2 @@
+# Warm start since the problem is probably somewhat converged from the first problem.
+warm_start_init_point yes

OpenSim/Examples/Moco/example2DWalking/track_opt.opt

@@ -0,0 +1,3 @@
+# Example of an option that can be specified when we use an external options file.
+
+least_square_init_duals yes

OpenSim/Moco/MocoCasADiSolver/MocoCasADiSolver.cpp

@@ -239,6 +239,8 @@ std::unique_ptr<CasOC::Solver> MocoCasADiSolver::createCasOCSolver(
     checkPropertyValueIsInSet(getProperty_verbosity(), {0, 1, 2});
     if (get_optim_solver() == "ipopt") {
         solverOptions["print_user_options"] = "yes";
+        // Set the optional options file name.
+        solverOptions["option_file_name"] = get_optim_ipopt_opt_filename();
         if (get_verbosity() < 2) {
             solverOptions["print_level"] = 0;
         } else if (get_optim_ipopt_print_level() != -1) {

OpenSim/Moco/MocoDirectCollocationSolver.cpp

@@ -40,6 +40,7 @@ void MocoDirectCollocationSolver::constructProperties() {
     constructProperty_implicit_auxiliary_derivative_bounds({-1000, 1000});
     constructProperty_minimize_lagrange_multipliers(false);
     constructProperty_lagrange_multiplier_weight(1.0);
+    constructProperty_optim_ipopt_opt_filename("ipopt.opt");
 }
 
 void MocoDirectCollocationSolver::setMesh(const std::vector<double>& mesh) {

OpenSim/Moco/MocoDirectCollocationSolver.h

@@ -124,6 +124,10 @@ class OSIMMOCO_API MocoDirectCollocationSolver : public MocoSolver {
             "Newton.");
     OpenSim_DECLARE_PROPERTY(optim_ipopt_print_level, int,
             "IPOPT's verbosity (see IPOPT documentation).");
+    OpenSim_DECLARE_PROPERTY(optim_ipopt_opt_filename, std::string,
+            "When using IPOPT, 'ipopt.opt' (default)."
+            "IPOPT looks for this file before it starts and uses it "
+            "to set optimizer options. See: https://coin-or.github.io/Ipopt/OPTIONS.html.");
     OpenSim_DECLARE_OPTIONAL_PROPERTY(enforce_constraint_derivatives, bool,
             "'true' (default) or 'false', whether or not derivatives of "
             "kinematic constraints are enforced as path constraints in the "

OpenSim/Moco/MocoTropterSolver.cpp

@@ -188,6 +188,9 @@ MocoTropterSolver::createTropterSolver(
         // Check that IPOPT print level is valid.
         checkPropertyValueIsInRangeOrSet(
                 getProperty_optim_ipopt_print_level(), 0, 12, {-1});
+        // Set the optional options file name.
+        optsolver.set_advanced_option_string(
+                "option_file_name", get_optim_ipopt_opt_filename());
         if (get_verbosity() < 2) {
             optsolver.set_advanced_option_int("print_level", 0);
         } else {