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Hello, I made a simple example using the arm26 model and after running a IK simulation of a bending arm, I wanted to check the muscle effort involved in it, just due to the gravity (so without any external reaction forces) so I run a ID simulation with no external forces file selected. In the plotting (moments vs angles) I should see some moments on joints, correct?

I wanted to check the muscle effort involved in it, just due to the gravity (so without any external reaction forces) so I run a ID simulation

ID doesn't compute muscle forces; you should run Static Optimization or CMC.

Sorry, you are right obviously. ID will be able to calculate joint moments even if there are no reaction forces?

The Inverse Dynamics Tool computes the net joint forces/moments that are required to produce the motion you provide. Please see the documentation here: https://simtk-confluence.stanford.edu/d ... e+Dynamics. You may also want to run through Tutorial 3 - Scaling, Inverse Kinematics, and Inverse Dynamics (https://simtk-confluence.stanford.edu/d ... e+Dynamics) if you haven't already.

thanks