This project provides a package that can be used to solve both data-tracking optimization and predictive optimization problems using collocation in conjunction with surrogate contact. A OpenSim model created based on the 4th Grand Challenge dataset is available for download. Note that two plug-ins, SurrContactForce.dll and LigamentJ.dll are currently unavailable. We will make these two plug-ins and the source code available once an on-going project is completed.