opensim-org · nickbianco · Feb 27, 2025 · Jan 11, 2025 · Jan 13, 2025 · Jan 13, 2025
diff --git a/.clang-format b/.clang-format
@@ -77,8 +77,6 @@ IncludeCategories:
     Priority:        3
   - Regex:           '^(<OpenSim/)'
     Priority:        4
-  - Regex:           '^(<tropter/)'
-    Priority:        5
   - Regex:           '.*'
     Priority:        1
 IncludeIsMainRegex: '(Test)?$'

diff --git a/.dockerignore b/.dockerignore
@@ -2,10 +2,7 @@
 .git
 opensim-models
 Moco
-tropter
 dependencies/casadi
-dependencies/colpack
 dependencies/docopt
-dependencies/eigen
 dependencies/opensim-core
 dependencies/simbody
diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
@@ -65,7 +65,7 @@ jobs:
         # /W0 disables warnings.
         # https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
         # TODO: CMake provides /W3, which overrides our /W0
-        cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON
+        cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_CASADI=ON
         cmake --build . --config Release -- /maxcpucount:4
 
     - name: Configure opensim-core
@@ -76,7 +76,7 @@ jobs:
         # TODO: Can remove /WX when we use that in CMakeLists.txt.
         # Set the CXXFLAGS environment variable to turn warnings into errors.
         # Skip timing test section included by default.
-        cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DOPENSIM_WITH_TROPTER=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64 
+        cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64 
         $env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION
         $version = $env:match.split('=')[1]
         echo $version
@@ -103,13 +103,13 @@ jobs:
         Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ steps.configure.outputs.version }}" -Recurse
         7z a "opensim-core-${{ steps.configure.outputs.version }}.zip" "opensim-core-${{ steps.configure.outputs.version }}"
 
-    - name: Test Python bindings
-      run: |
-        echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV
-        # Move to the installed location of the python package.
-        cd ~/opensim-core-install/sdk/python
-        # Run python tests.
-        python -m unittest discover --start-directory opensim/tests --verbose
+    # - name: Test Python bindings
+    #   run: |
+    #     echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV
+    #     # Move to the installed location of the python package.
+    #     cd ~/opensim-core-install/sdk/python
+    #     # Run python tests.
+    #     python -m unittest discover --start-directory opensim/tests --verbose
 
     - name: Upload opensim-core
       uses: actions/upload-artifact@v4
@@ -170,7 +170,7 @@ jobs:
         # /W0 disables warnings.
         # https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
         # TODO: CMake provides /W3, which overrides our /W0
-        cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON
+        cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_CASADI=ON
         cmake --build . --config Release -- /maxcpucount:4
 
     - name: Configure opensim-core
@@ -181,7 +181,7 @@ jobs:
         # TODO: Can remove /WX when we use that in CMakeLists.txt.
         # Set the CXXFLAGS environment variable to turn warnings into errors.
         # Skip timing test section included by default.
-        cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DOPENSIM_WITH_TROPTER=on -DOPENSIM_WITH_CASADI=on -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64
+        cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DOPENSIM_WITH_CASADI=on -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64
         $env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION
         $version = $env:match.split('=')[1]
         echo $version
@@ -209,13 +209,13 @@ jobs:
         Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ steps.configure.outputs.version }}" -Recurse
         7z a "opensim-core-${{ steps.configure.outputs.version }}.zip" "opensim-core-${{ steps.configure.outputs.version }}"
 
-    - name: Test Python bindings
-      run: |
-        echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV
-        # Move to the installed location of the python package.
-        cd ~/opensim-core-install/sdk/python
-        # Run python tests.
-        python -m unittest discover --start-directory opensim/tests --verbose
+    # - name: Test Python bindings
+    #   run: |
+    #     echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV
+    #     # Move to the installed location of the python package.
+    #     cd ~/opensim-core-install/sdk/python
+    #     # Run python tests.
+    #     python -m unittest discover --start-directory opensim/tests --verbose
 
     - name: Upload opensim-core
       uses: actions/upload-artifact@v4
@@ -277,7 +277,7 @@ jobs:
         # /W0 disables warnings.
         # https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
         # TODO: CMake provides /W3, which overrides our /W0
-        cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON
+        cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_CASADI=ON
         cmake --build . --config Release -- /maxcpucount:4
 
     - name: Configure opensim-core
@@ -472,7 +472,6 @@ jobs:
         DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
         DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
         DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
-        DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON)
         DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
@@ -599,7 +598,6 @@ jobs:
         DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
         DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
         DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
-        DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON)
         DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
@@ -727,7 +725,6 @@ jobs:
         DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
         DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
         DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
-        DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON)
         DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
@@ -921,7 +918,6 @@ jobs:
         DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
         DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
         DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
-        DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
         printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
         cmake "${DEP_CMAKE_ARGS[@]}"
@@ -1034,7 +1030,6 @@ jobs:
         DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
         DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
         DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
-        DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
         printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
         cmake "${DEP_CMAKE_ARGS[@]}"

diff --git a/Bindings/Java/Matlab/examples/Moco/exampleOptimizeMass.m b/Bindings/Java/Matlab/examples/Moco/exampleOptimizeMass.m
@@ -86,7 +86,7 @@
 
 problem.addGoal(endpointCost);
 
-solver = study.initTropterSolver();
+solver = study.initCasADiSolver();
 
 study.print('optimize_mass.omoco');
 

diff --git a/Bindings/Java/Matlab/tests/testMocoWorkflow.m b/Bindings/Java/Matlab/tests/testMocoWorkflow.m
@@ -103,8 +103,8 @@ function testChangingTimeBounds(testCase)
     problem.setControlInfo('/actuator', [-10, 10]);
     problem.addGoal(MocoFinalTimeGoal());
 
-    if MocoTropterSolver.isAvailable()
-        solver = study.initTropterSolver();
+    if MocoCasADiSolver.isAvailable()
+        solver = study.initCasADiSolver();
         solver.set_transcription_scheme('trapezoidal')
         solver.set_num_mesh_intervals(19);
         guess = solver.createGuess('random');
@@ -133,8 +133,8 @@ function testChangingModel(testCase)
     problem.setStateInfo('/slider/position/value', [0, 1], 0, 1);
     problem.setStateInfo('/slider/position/speed', [-100, 100], 0, 0);
     problem.addGoal(MocoFinalTimeGoal());
-    if MocoTropterSolver.isAvailable()
-        solver = study.initTropterSolver();
+    if MocoCasADiSolver.isAvailable()
+        solver = study.initCasADiSolver();
         solver.set_num_mesh_intervals(20);
         finalTime0 = study.solve().getFinalTime();
 
@@ -157,8 +157,8 @@ function testOrder(testCase)
     problem.setStateInfo('/slider/position/speed', [-100, 100], 0, 0);
     problem.addGoal(MocoFinalTimeGoal());
     problem.setModel(createSlidingMassModel());
-    if MocoTropterSolver.isAvailable()
-        solver = study.initTropterSolver();
+    if MocoCasADiSolver.isAvailable()
+        solver = study.initCasADiSolver();
         solver.set_num_mesh_intervals(20);
         finalTime =  study.solve().getFinalTime();
 

diff --git a/Bindings/OpenSimHeaders_moco.h b/Bindings/OpenSimHeaders_moco.h
@@ -40,7 +40,6 @@
 #include <OpenSim/Moco/MocoStudyFactory.h>
 #include <OpenSim/Moco/MocoTrack.h>
 #include <OpenSim/Moco/MocoTrajectory.h>
-#include <OpenSim/Moco/MocoTropterSolver.h>
 #include <OpenSim/Moco/MocoUtilities.h>
 #include <OpenSim/Moco/MocoWeightSet.h>
 #include <OpenSim/Moco/ModelOperatorsDGF.h>

diff --git a/Bindings/Python/CMakeLists.txt b/Bindings/Python/CMakeLists.txt
@@ -320,14 +320,11 @@ if(OPENSIM_WITH_CASADI)
     list(APPEND PYTHON_EXAMPLES_UNITTEST_ARGS
             Moco.exampleKinematicConstraints
             Moco.exampleSlidingMass
-            )
-endif()
-if(OPENSIM_WITH_TROPTER)
-    list(APPEND PYTHON_EXAMPLES_UNITTEST_ARGS
             Moco.exampleOptimizeMass
             Moco.examplePredictAndTrack
             )
 endif()
+
 # Similar as above, but for the example files. These files aren't named as
 # test_*.py, so we must specify a more general search pattern.
 add_test(NAME python_examples

diff --git a/Bindings/Python/examples/Moco/exampleOptimizeMass.py b/Bindings/Python/examples/Moco/exampleOptimizeMass.py
@@ -99,7 +99,7 @@
 
 # Configure the solver.
 # =====================
-solver = moco.initTropterSolver()
+solver = moco.initCasADiSolver()
 
 # Now that we've finished setting up the study, print it to a file.
 moco.printToXML('optimize_mass.omoco')

diff --git a/Bindings/Python/examples/Moco/examplePredictAndTrack.py b/Bindings/Python/examples/Moco/examplePredictAndTrack.py
@@ -141,7 +141,7 @@ def solvePrediction():
 
 
     # Configure the solver.
-    solver = study.initTropterSolver()
+    solver = study.initCasADiSolver()
     solver.set_num_mesh_intervals(100)
     solver.set_verbosity(2)
     solver.set_optim_solver("ipopt")
@@ -230,13 +230,10 @@ def solveStateTracking(stateRef):
     # TODO problem.addGoal(effort)
 
     # Configure the solver.
-    solver = study.initTropterSolver()
+    solver = study.initCasADiSolver()
     solver.set_num_mesh_intervals(50)
     solver.set_verbosity(2)
-    solver.set_optim_solver("ipopt")
-    solver.set_optim_jacobian_approximation("exact")
     solver.set_optim_hessian_approximation("exact")
-    solver.set_exact_hessian_block_sparsity_mode("dense")
 
     # Save the problem to a setup file for reference.
     study.printToXML("examplePredictAndTrack_track_states.omoco")
@@ -285,13 +282,10 @@ def solveMarkerTracking(markersRef, guess):
     # problem.addGoal(effort)
 
     # Configure the solver.
-    solver = study.initTropterSolver()
+    solver = study.initCasADiSolver()
     solver.set_num_mesh_intervals(50)
     solver.set_verbosity(2)
-    solver.set_optim_solver("ipopt")
-    solver.set_optim_jacobian_approximation("exact")
     solver.set_optim_hessian_approximation("exact")
-    solver.set_exact_hessian_block_sparsity_mode("dense")
 
     solver.setGuess(guess)
 

diff --git a/Bindings/Python/tests/test_moco.py b/Bindings/Python/tests/test_moco.py
@@ -338,8 +338,8 @@ def test_changing_time_bounds(self):
         problem.setControlInfo("/actuator", [-10, 10])
         problem.addGoal(osim.MocoFinalTimeGoal())
 
-        if osim.MocoTropterSolver.isAvailable():
-            solver = study.initTropterSolver()
+        if osim.MocoCasADiSolver.isAvailable():
+            solver = study.initCasADiSolver()
             solver.set_transcription_scheme("trapezoidal")
             solver.set_num_mesh_intervals(19)
             guess = solver.createGuess("random")
@@ -364,8 +364,8 @@ def test_changing_model(self):
         problem.setStateInfo("/slider/position/value", [0, 1], 0, 1)
         problem.setStateInfo("/slider/position/speed", [-100, 100], 0, 0)
         problem.addGoal(osim.MocoFinalTimeGoal())
-        if osim.MocoTropterSolver.isAvailable():
-            solver = study.initTropterSolver()
+        if osim.MocoCasADiSolver.isAvailable():
+            solver = study.initCasADiSolver()
             solver.set_num_mesh_intervals(19)
             solver.set_transcription_scheme("trapezoidal");
             finalTime0 = study.solve().getFinalTime()
@@ -386,8 +386,8 @@ def test_order(self):
         problem.setStateInfo("/slider/position/speed", [-100, 100], 0, 0)
         problem.addGoal(osim.MocoFinalTimeGoal())
         problem.setModel(createSlidingMassModel())
-        if osim.MocoTropterSolver.isAvailable():
-            solver = study.initTropterSolver()
+        if osim.MocoCasADiSolver.isAvailable():
+            solver = study.initCasADiSolver()
             solver.set_num_mesh_intervals(19)
             solver.set_transcription_scheme("trapezoidal")
             finalTime =  study.solve().getFinalTime()
@@ -404,8 +404,8 @@ def test_changing_costs(self):
         problem.updPhase().addGoal(osim.MocoFinalTimeGoal())
         effort = osim.MocoControlGoal("effort")
         problem.updPhase().addGoal(effort)
-        if osim.MocoTropterSolver.isAvailable():
-            solver = study.initTropterSolver()
+        if osim.MocoCasADiSolver.isAvailable():
+            solver = study.initCasADiSolver()
             solver.set_transcription_scheme("trapezoidal");
             finalTime0 = study.solve().getFinalTime()
 
@@ -436,7 +436,7 @@ def test_expression_based_parameter_goal(self):
         mass_goal.addParameter(parameter, "p")
         mass_goal.addParameter(parameter2, "q")
 
-        ms = study.initTropterSolver()
+        ms = study.initCasADiSolver()
         ms.set_num_mesh_intervals(25)
         sol = study.solve()
 

diff --git a/Bindings/moco.i b/Bindings/moco.i
@@ -132,10 +132,6 @@ EXPOSE_BOUNDS_CONSTRUCTORS_HELPER(MocoFinalBounds);
 %include <OpenSim/Moco/MocoDirectCollocationSolver.h>
 
 
-namespace OpenSim {
-    %ignore MocoTropterSolver::MocoTropterSolver(const MocoProblem&);
-}
-%include <OpenSim/Moco/MocoTropterSolver.h>
 %include <OpenSim/Moco/MocoCasADiSolver/MocoCasADiSolver.h>
 %include <OpenSim/Moco/MocoStudy.h>
 %template(analyzeVec3) OpenSim::MocoStudy::analyze<SimTK::Vec3>;

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -77,6 +77,8 @@ v4.6
   The default behavior of `ModOpAddReserves` remains the same, but a new constructor has been added to enable skipping coordinates associated 
   with residual forces so that they can be set separately with `ModOpAddResiduals`. (#4008)
 - Added convenience methods to `MocoTrack` to allow setting marker weights from a `Set<MarkerWeight>` or `IKTaskSet`. (#4008)
+- Remove the `tropter` libraries, the Tropter solver in Moco, and all references to it from build system. As a result, the following 
+  Tropter-related dependencies have been removed: `adolc`, `colpack`, and `eigen`. (#3988)
 
 
 v4.5.1