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Musculoskeletal simulations of movement can provide insights needed to help humans regain mobility after injuries and design robots that interact with humans. Here, we introduce OpenSim Moco, a software toolkit for optimizing the motion and control of musculoskeletal models built in the OpenSim modeling and simulation package. OpenSim Moco uses the direct collocation method, which is often faster and can handle more diverse problems than other methods for musculoskeletal simulation but requiresdoi:10.1101/839381 fatcat:vh7qkram2nbgxkyukmiusttjbu