Fig 5. Solving prescribed motion, tracked motion, and predicted motion problems.

Moco provides the tools MocoTrack and MocoInverse for solving standard problems. Both require a Model and kinematic data as inputs and produce controls and actuator states as outputs, but these tools solve different optimal control problems. MocoTrack produces a new simulated motion, while MocoInverse does not permit deviations from the provided kinematic data. Predicting a motion is not easily standardized and requires a custom MocoStudy.