<t>Hi Matt,<br/> <br/> What happens if you try to start RRA at a different time (not the very first time in the input files)? RRA/CMC have to prepend data to the beginning of your data in order to do smooth spline fits. That's probably the "padded kineticsStore". It does this by mirroring your own d...

<t>Hello again,<br/> <br/> I'm seeing a field called replace_contact_force_set (or something similar) showing up in RRA and CMC setup files. It appears to be written by the GUI. Please do not use this field; it is unnecessary. Delete the whole line in the setup file (do not use "true" or "false"--ju...

<t>Perhaps you are wondering how to manage the names of the output files you are generating? <br/> <br/> Open the setup file and look for the "name" of the tool being used. That name is prepended to all output files. <br/> <br/> For example:<br/> <CMCTool name="hpl_overground_slow_walk_cmc"> <br/> <...

<t>Hello,<br/> <br/> When you run RRA, please make sure that <replace_actuator_set> is set to true. <br/> <br/> When you run CMC, please make sure that <replace_actuator_set> is set to false. <br/> <br/> When this field is "true", the software will ignore all the actuators in the model file (like th...

Fantastic solution, Katerina! It absolutely falls under "approved" ways!

- May

<t>A clarification to my last post:<br/> <br/> >> - Take a good look at your RRA results, especially the residual and reserve actuator forces. <br/> <br/> The RRA solution does not technically have "reserve" actuators, what I was referring to was the joint torque actuators. There are residual (FX, F...

<t>Ok, I have a couple more suggestions to try.<br/> <br/> - Make sure that you are NOT filtering the RRA kinematics in the CMC setup file. It looks like it's trying to filter at 6 Hz. Set the cutoff frequency to some negative number to stop it from filtering.<br/> <br/> - Take a good look at your R...

<t>Hi Eric,<br/> <br/> Could you check to see that the flag to adjust the center of mass is *false* in the CMC setup file? The readout suggests that CMC is trying to adjust the center of mass, which we do *not* want to do in the CMC step (only do that in RRA). <br/> <br/> I don't know if this is wha...

<t>Katerina,<br/> Thanks for the clarification.<br/> <br/> You might also try to do the following for your running trial: Run CMC, and as it runs, keep an eye on the times in the message window. Try to note the time when it crashes. Then change your final time in the CMC setup file to some time *jus...

<t>(Good observation, Sam!) Yes, definitely lock the subtalar and mtp joints. For the slow walking example we did in class, I think that the motion in these joints was small enough that it was ok to lock them *after* inverse kinematics. <br/> <br/> But I bet the motions were much larger after invers...