The study of animal locomotion and neuromechanical control offers valuable insights for advancing research in neuroscience, biomechanics, and robotics. We have developed FARMS (Framework for Animal and Robot Modeling and Simulation), an open-source, interdisciplinary framework, designed to facilitate access to neuromechanical simulations for modeling, simulation, and analysis of animal locomotion and bio-inspired robotic systems. By providing an accessible and user-friendly platform, FARMS aims to lower the barriers for researchers to explore the complex interactions between the nervous system, musculoskeletal structures, and their environment. Leveraging and integrating existing open-source software in a modular manner, FARMS enables realistic simulations and fosters collaboration among neuroscientists, biologists, and roboticists. FARMS has already been extensively used to study locomotion in animals such as mice, drosophila, fish, salamanders, and centipedes, serving as a platform to investigate the role of the neural circuitry in the brain and spinal cord, as well as the role of peripheral sensory feedback loops. We aim to provide an overview of the framework, discuss its interdisciplinary approach, showcase its versatility through specific case studies, and highlight its effectiveness in advancing our understanding of locomotion. Overall, the goal of FARMS is to contribute to a deeper understanding of animal locomotion, the development of innovative bio-inspired robotic systems, and promote accessibility in neuromechanical research.