Hi MohammadReza, I added a motion file with motion in the hip (L+R), knee (L+R), ankle (L+R) and pelvis tilt, but it seems that upon running JRA, the model still translated and bent in configuration. It seems that this offset takes place right at the start of the motion (after running JRA).

Correct, I held the model fixed with the only load being gravity. I can try with a superimposed motion and see if that helps.

Thank you, Mohammadreza, for the suggestions regarding generating intersegmental forces using the ID outputs and the CoordinateActuators! That works well for the Arm26 example. However, when I tried to do ID + JRA with whole body (scaled version of Gait2354_Simbody, with muscles excluded as per your...

I understand that the Inverse Dynamics tool generates the generalized forces (joint torques) given joint kinematics and the external forces. I was wondering if the joint reaction forces are also available during the Inverse Dynamics application. I am aware of the JRA tools to calculate the joint rea...