This release contains a MATLAB version of Moco’s 2D predictive simulation of walking, contributed by Brian Umberger, and examples in MATLAB, Python, and C++ for using the MocoInverse tool. Lastly, we added examples for creating a custom goal in C++; see exampleSlidingMassAdvanced.cpp and exampleMocoCustomEffortGoal.

To easily plot a solution in MATLAB, we introduced the osimMocoTrajectoryReport.m utility.

We updated the versions of Simbody and OpenSim that we bundle with Moco. As a result, this release contains a fix for the simbody-visualizer for macOS Catalina, and contains OpenSim’s support for IMUs.