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Hi All,
I am implementing static optimization to calculate muscle activations using ID torques during normal walking.
I just wanted to clear one thing. The ID torques are calculated included the external loads (GRF). So when I calculate muscle activations do I need to implement the external loads again?

Regards,
Shivangi

Hi, if you are following Custom Static Optimization in MATLAB tutorial, there is no need to append GRF to the model.

Thank you again for your help Mohammadreza. So why is my foot sinking in the ground during forward dynamics?
I have torque calculated at every instant from the ID solver which is then used to calculate muscle activations to drive the model to a new pose. But the model gets distorted. Will I have to add joint reserve actuators? But then how will I regulate the usage of these actuators?
for simplification, I have locked the lumbar and the upper body joints.

Regards,
Shivangi