function Flist = getSimpackF(T_GC,T_O,Mlist,Fmat)
N=size(Fmat,1);
Flist = zeros(6,N);

%base frame
% Adgab = Adjoint(TransInv(T_GC(:,:,1))*Mlist(:,:,1));
% Flist(:,1) = Adgab'*Fmat(1,:)';
% for i = 2: N
% %     Adgab = Adjoint(TransInv(T_GC(:,:,i))*T_O(:,:,i-1)*Mlist(:,:,i));
%     Adgab = Adjoint(TransInv(T_GC(:,:,i))*T_O(:,:,i)); 
%     Flist(:,i) = Adgab'*Fmat(i,:)';
% endAdgab = Adjoint(TransInv(T_GC(:,:,1))*Mlist(:,:,1));
for i = 1: N
%     Adgab = Adjoint(TransInv(T_GC(:,:,i))*T_O(:,:,i-1)*Mlist(:,:,i));
    Adgab = Adjoint(TransInv(T_GC(:,:,i))*T_O(:,:,i)); 
    Flist(:,i) = Adgab'*Fmat(i,:)';
end
end