OpenSim Moco is a software package for solving common problems in simulation biomechanics including tracking simulations, predictive simulations, muscle-redundancy problems, and more. Moco brings state-of-the-art direct collocation optimal control methods to the wider biomechanics community without requiring numerical expertise to solve complex problems. Moco leverages OpenSim’s existing modeling capabilities to allow you to seamlessly make the transition from model building to simulation a seamless process in your research.

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1. Download the OpenSim 4.3 beta software from SimTK.
   1. Go to the "Download Latest Releases" dropdown menu.
   2. Choose the option labeled "OpenSim Release Betas" that matches your platform ending in win64.exe (Windows) or mac.pkg (macOS).
2. Install OpenSim to a location of your choice; perhaps C:\OpenSim 4.3 (on Windows).
3. If you use Windows, edit your PATH environment variable to include OpenSim’s bin directory (e.g., C:\OpenSim 4.3\bin). See here for instructions. Make sure to remove any previous OpenSim installations from your PATH.
4. Run the OpenSim application to open the GUI. If the instructions below do not work, go the OpenSim executable in the bin folder and launch it from there.  
   1. Windows: open the Start menu and click OpenSim 4.3
   2. macOS: go to Applications and click OpenSim 4.3
5. A prompt will appear to install the OpenSim resources to a location of your choice; perhaps C:\Users\<PROFILE_NAME_HERE>\Documents\OpenSim\4.3 (on Windows; replace <PROFILE_NAME_HERE> with your Windows profile name). These resources include the workshop example files. We will refer to this directory as <RESOURCES_DIR> in the remaining instructions below.

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1. Configure OpenSim with Matlab by starting Matlab and running configureOpenSim.m, located at <RESOURCES_DIR>\Code\Matlab .

2. After the script completes, restart Matlab and test the configuration by checking the timestamp from running 

   Code Block
   >> org.opensim.modeling.opensimCommon.GetVersionAndDate()

    in the Matlab command window; the date should be in July 2021. Test that the visualizer is working by running the following:

   Code Block
   >> cd 'C:\Users\<profile>\Documents\OpenSim\4.3\Code\Matlab\Moco' >> exampleSlidingMass

   You should see a visualizer window appear with a sliding mass animation. Hit ESC twice to close the window.

3. Note for OpenSim 3.3 users: You cannot concurrently use OpenSim 3.3 and 4.3 in Matlab; to switch versions you must re-run configureOpenSim.m and edit your PATH environment variable.

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Each directory contains the example file with code portions removed that you will fill in during the workshop. There are also files ending in "_answers" that have the answers pre-filled in, if you prefer to follow along with that instead. The Python versions of the examples contain an extra file ending in "_helpers", containing helper functions for these examples; the same helper functions for the Matlab examples are located at the bottom of each example file.

OpenSim/Moco docs

View the Doxygen here.

Slides

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and cheat sheet

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Visit the Moco website here.

Moco publication

Dembia CL, Bianco NA, Falisse A, Hicks JL, Delp SL (2020) OpenSim Moco: Musculoskeletal optimal control. PLoS Comput Biol 16(12): e1008493. https://doi.org/10.1371/journal.pcbi.1008493

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Workshop survey

Please fill out our TODO. Thank  post-workshop survey.  Thank you!