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OpenSim Moco solves optimal control problems with musculoskeletal models defined in OpenSim, using direct collocation.


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++.

To view documentation, visit https://opensim-org.github.io/opensim-moco-docs.

To report bugs, suggest features, or contribute, visit https://github.com/opensim-org/opensim-moco.

To view the Moco preprint, visit https://www.biorxiv.org/content/10.1101/839381v1.

To view the materials used to produce the Moco preprint, visit
https://github.com/stanfordnmbl/mocopaper.

To reproduce the results of the Moco preprint, visit https://hub.docker.com/repository/docker/stanfordnmbl/mocopaper.

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