This work is supported by the US Army Medical Research and Materiel Command under Contract #W81XWH-15-C-0058, the National Institutes of Health (R01 AR067196), a Merit Review Award #I01RX001246 from the United States Department of Veterans Affairs Rehabilitation Research and Development Service, and the University of Utah Undergraduate Research Opportunity Program. The views, opinions and/or findings contained in this report are those of the authors and should not be construed as an official Department of the Army or National Institutes of Health position, policy or decision unless so designated by other documentation. Furthermore, the contents do not represent the views of either the U.S. Department of Veterans Affairs, or the United States Government.

This release contains modifications proposed by reviewers. This (mainly) Matlab based software library supports the Motion Capture to Robot software package, a set of algorithms for robotically replicating motion capture trajectories. Please see related identifiers for the Motion Capture to Robot software package, the underlying dataset, and two C++ based optimization algorithms that map a motion capture trajectory from the lab reference frame to the robot joint space. Related publication can be found at: https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0242005