API
4.3
For MATLAB, Python, Java, and C++ users
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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 OpenSim distribution, all examples are in the Resources/Code/
folder.
name | model/motion | description | interfaces |
---|---|---|---|
SlidingMass | point mass | Moco's simplest example; MocoFinalTimeGoal | MATLAB, Python, C++ |
SlidingMassAdvanced | point mass | MocoFinalTimeGoal, solver settings, customizing the initial guess | C++ |
Tracking | double pendulum | Using MocoStateTrackingGoal | C++ |
MarkerTracking | double pendulum | Using MocoMarkerTrackingGoal | C++ |
HangingMuscle | point mass with muscle | DeGrooteFregly2016Muscle, Umberger2010MuscleMetabolicsProbe, AnalyzeTool, MocoInitialActivationGoal, MocoInitialVelocityEquilibriumDGFGoal, plotting a TimeSeriesTable | Python, C++ |
OptimizeMass | point mass | Parameter optimization with MocoMarkerFinalGoal and MocoParameter | MATLAB, Python |
MinimizeJointReaction | pendulum | MocoJointReactionGoal, MocoControlGoal, prescribeControlsToModel | MATLAB |
exampleKinematicConstraints | point mass | Point mass constrained to a parabola | Python |
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; MocoControlTrackingGoal; generating a PDF report | MATLAB, Python, C++ |
2DWalking | walking | MocoTrack, MocoStudy prediction, MocoControlGoal, MocoAverageSpeedGoal, MocoPeriodicityGoal, MocoContactTrackingGoal, createPeriodicSolution | MATLAB, C++ |
2DWalkingMetabolics | walking | MocoTrack, MocoControlGoal, MocoPeriodicityGoal, Bhargava2004SmoothedMuscleMetabolics | C++ |
MarkerTracking10DOF | walking | MocoControlGoal, MocoMarkerTrackingGoal | MATLAB |
SquatToStand | torque-driven single leg | MocoStudy motion prediction, MocoInverse | MATLAB Python |
IMUTracking | torque-driven single leg | MocoStudy motion prediction, MocoAccelerationTrackingGoal | MATLAB Python |
EMGTracking | lower-limb | MocoInverse, MocoControlTrackingGoal | MATLAB Python |
PredictAndTrack | double pendulum | MocoMarkerFinalGoal, MocoFinalTimeGoal, MocoMarkerTrackingGoal, MocoStateTrackingGoal | Python |
PrototypeCustomGoal | N/A | Sandbox for defining a custom MocoGoal | MATLAB |
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++ |