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To run these Matlab codes, you need third-party softwares (non-free):
The provided codes used the following optimal control software: 
GPOPS-II Version 1.0 Running with the hp-Adaptive Radau Pseudospectral Method.
Please visit http://www.gpops2.com/ for further information
The SNOPT solver was also used:
See https://ampl.com/products/solvers/solvers-we-sell/snopt/
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These codes were used to generate the simulation results of the following paper:
"B. Berret and F. Jean, Stochastic optimal open-loop control as a theory 
 of force and impedance planning via muscle co-contraction, PLoS Comput Biol, 2020"

Please contact the corresponding author of the paper for any question.
i.e. B. Berret (bastien.berret@universite-paris-saclay.fr)