OpenSim Moco is a software toolkit to solve optimal control problems with musculoskeletal models defined in OpenSim, including those with kinematic constraints. Using the direct collocation method, Moco can solve a wide range of problems, including motion tracking, motion prediction, and parameter optimization. The design of Moco focuses on ease-of-use, customizability, and extensibility. Just like OpenSim itself, Moco has interfaces in XML/command-line, Matlab, Python, Java, and C++.

• Read the documentation


• View the source code, report bugs, suggest features, or contribute on GitHub


• Read the Moco preprint on bioRxiv


• Obtain the models, data, and code used to produce the Moco preprint


• Watch the recording of the Moco webinar from November, 2019