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I am having an issue with using the model with our trc data created from vicon. The trc files looks fine, and I tried various offset for ground_thorax which is the only part connected to the ground in the model, but we still have an issue to get the right IK.

Hi Kazutaka,

Can you use the motion data previewer to load the trc file? If not then there's no chance IK would handle it as it uses the same code to parse the .trc file. The trc file format is a bit flakey and you have to be careful with tabs/spaces in headers as well as make sure you have Windows style line-endings.

Please let me know how that goes,
-Ayman