Static Optimization using ID torques

[Shivangi Giri]

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

[Mohammadreza Rezaie]

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

[Shivangi Giri]

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