[Moco] Tools for synthesizing a MocoSolution #3713
Description
We provide tools for plotting solutions, but we could additional tools for "synthesizing" a MocoSolution to provide more specific feedback to a user. The following examples illustrate this need:
- If many muscles or actuators are hitting their control bounds, we should warn the user, even if the problem converges.
- If the constraint tolerance couldn't be met, list the specific constraints that weren't satisfied and provide suggestions to correct.
- If the convergence tolerance couldn't be met, provide suggestions (e.g., scale objective between [0.1, 10]).
- Provide option to output inverse dynamics moments (and muscle-generated moments, if relevant).