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.

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, 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

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; 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

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++