Moco

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 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 with Moco
• User Guide: How to use Moco
  • MocoInverse: Prescribing a motion
  • MocoTrack: Tracking a motion
  • MocoStudy: Defining a custom problem
  • MocoGoals: available cost terms and endpoint constraints
  • Frequently asked questions
• Theory Guide: How Moco solves optimal control problems
• Developer Guide: The Moco codebase and how to contribute
• Moco Interface (API) Reference
• Printable cheat sheet
• Examples

Other resources:

• SimTK: downloads, user forum, and mailing lists
• GitHub: source code, bug reporting, and feature requests
• PLoS Comput Biol paper
• Webinar recording

Latest release

The latest Moco features are included with the OpenSim 4.5 release. Learn about the new features here.