This repository contains code for running 4 classes of simulations in MATLAB with a nine DOF biomechanical model for estimating full body kinematics (and dynamics and contact forces if using direct collocation): (1) IMU and vision data fusion (tracking) via direct collocation (2) IMU only data tracking (and denoising) via direct collocation (3) Unconstrained IMU and vision data fusion via inverse kinematics (4) Unconstrained kinematics calculations using computer vision keypoints only