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Hi,
One of the settings for CMC requires the user to specify a file containing "Kinematics for External Loads". This is by default always the IK motion file. I presume this has something to do with specifying Ground reaction forces during walking, since CMC does not use a ground contact model. Would someone happen to know how exactly the data in the IK motion file is used for this purpose? Thanks!

Hi Anantharaman,

The ExternalLoad kinematics is used to transform the point of application of the ground reaction force (which is applied as-is instead of computed using a ground-contact model), to the appropriate body frame based on the instantaneous kinematics specified.

Hope this explains,
-Ayman