OpenSim Moco Documentation

Moco is a part of OpenSim for solving optimal control problems for musculoskeletal systems defined as OpenSim models. The package has Python, MATLAB, and XML (command-line) interfaces; the core library is written in C++.

Here are some problems you can solve with Moco:

• Solve for the muscle activity that tracks a known motion.
• Solve for a new motion that optimizes some cost (e.g., effort).
• Solve for mass properties that minimize residual (unrealistic) forces.

Sections of the documentation:

• Getting started
• User Guide: Learning how to use Moco
  • Solving for muscle activity that tracks an observed motion
  • Defining a custom optimization problem
• Theory Guide: Learning how Moco solves optimal control problems
• Developer Guide: Learning the Moco codebase and how to contribute
• Interface (API) Reference
• Printable cheat sheet
• List of examples

Other resources:

• SimTK: downloads, user forum, and mailing lists
• GitHub: source code, bug reporting, and feature requests
• bioRxiv preprint
• Webinar recording