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