Moco's examples are categorized as beginner, intermediate, and advanced. Some examples are available from multiple interfaces. Use the links in the Interfaces column to view the code. In the Moco distribution, all examples are in the Resources/Code/ folder.

Note: The intent of all examples is to demonstrate Moco's interface. We do not validate the results of these examples. Users are responsible for validating their results before making any scientific claims.

Beginner

name	model/motion	description	interfaces
SlidingMass	point mass	Moco's simplest example; MocoFinalTimeGoal	MATLAB, Python, C++
SlidingMassAdvanced	point mass	MocoFinalTimeGoal, Setting solver settings, customizing the initial guess	C++
Tracking	double pendulum	Using MocoStateTrackingGoal	C++
MarkerTracking	double pendulum	Using MocoMarkerTrackingGoal	C++
OptimizeMass	point mass	Parameter optimization with MocoMarkerFinalGoal and MocoParameter	MATLAB, Python
MinimizeJointReaction	pendulum	MocoJointReactionGoal, MocoControlGoal, prescribeControlsToModel	MATLAB

Intermediate

name	model/motion	description	interfaces
MocoTrack	lower-limb	Using the MocoTrack tool for walking with marker tracking and state tracking; generating a PDF report	MATLAB, Python, C++
MocoInverse	lower-limb	Using the MocoInverse tool for walking; generating a PDF report	MATLAB, Python, C++
2DWalking	walking	MocoTrack, MocoStudy prediction, MocoControlGoal, MocoAverageSpeedGoal, MocoPerodicityGoal, createPeriodicSolution	C++
MarkerTracking10DOF	walking	MocoControlGoal, MocoMarkerTrackingGoal	MATLAB
SitToStand	torque-driven single leg	MocoStudy motion prediction, MocoInverse	MATLAB
PredictAndTrack	double pendulum	MocoMarkerFinalGoal, MocoFinalTimeGoal, MocoMarkerTrackingGoal, MocoStateTrackingGoal	Python
PrototypeCustomGoal	N/A	Sandbox for defining a custom MocoGoal	MATLAB

Advanced

name	model/motion	description	interfaces
CustomImplicitAuxiliaryDynamics	N/A	Creating a component with implicit auxiliary dynamics (like muscle tendon compliance)	C++
CustomEffortGoal	N/A	Creating a plugin for a custom goal	C++