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MocoExtendProblem (MEP) is a framework to rapidly develop novel goals for biomechanical optimal control problems using OpenSim Moco (Dembia et al., 2020) and MATLAB (The MathWorks, Inc., Natick, MA, USA). MEP features several templates for testing and prototyping novel MocoGoals as well as a build tool to create a MEX function using OpenSim’s API for MATLAB in lieu of rebuilding OpenSim from source or building a plugin and generating an .omoco file from C++ to load the problem into MATLAB. Instead, users structure and design custom goals in C++, build them with the provided tool, and call custom goals from within MATLAB scripts. This repository features: • A build.m script that compiles goals in the custom_goals directory and procedurally constructs the C++/MATLAB class implementations and compiles the MEX interface. • Compatibility tested with OpenSim 4.2-4.5. – Support for OpenSim versions 4.2-4.4 require unique considerations to custom goal development and build pipeline since Booleans for division by duration, distance and mass were migrated to the abstract MocoGoal. • The ability to include MEP as a submodule, build, and use valid custom goals. • Three example custom goals in the custom_goals and custom_goals_compat directories.