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So, C3DFileAdapter().read throws an exception when there is only one of marker or force data.

C3DFileAdapter().readFile works, but I get AbstractDataTable instead of TimeSeriesTableVec3.

How do get something I can use with the TRCFileAdapter?

The behavior you describe has been previously reported (here) and a fix will be included in the next release (within a few weeks).

If you require this method urgently you could build OpenSim from Github source.