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Hello, I am looking into this example and I notice that the referenceGRF.sto file has zeros for the center of pressure. Is this the way it should be or is there a mistake here? I would assume the center of pressure of the ground force should be in the area where the foot touches the ground. Is there a corrected file somewhere?

Hi Ernesto,

The MocoContactTrackingGoal only minimises the (projected) force error. It does not track the COP nor the torques. See here: https://opensim-org.github.io/opensim-m ... _goal.html

The zeros in the referenceGRF.sto make sense as that part is not used/needed in the goal.

Cheers,
Oliver