The suggested solution works. Thank you very much.

Hi Carmichael,

Thank you for your reply.

Were you ever able to prescribe an external moment to a specific joint during CMC (i.e. the moment values are predetermined as a function of time)?

I think your suggested solution does not enable that.

I am trying to use a prescribed controller in a CMC simulation. To this end, I have added a coordinate actuator as well as its controller (prescribed controller) to my model. The coordinate actuator is added under <ForceSet> as follows: <CoordinateActuator name="act_r"> <isDisabled>false</isDisabled...