# RRA - only running RRA for a full gait cycle (or multiple full gait cycles) makes real sense (but can still work ok if not, since residual averages are not completely eliminated anyway). (Chand, Sam, and others have noted this before, but we often forget to explain this in teaching or documenting RRA).

Eran Guendelman's notes:
# Currently we adjust the torso COM assuming it's in world space coordinates, which it isn't.
# When using the example RRA actuators XML file, you should note that residual forces are applied to the center-of-mass (COM) of the unscaled pelvis. However, if you scale the model, the COM of the pelvis can change. Although the effect may be small, you should change the location of the residual force actuators in the your RRA actuators file to correspond to the scaled pelvis COM.