Hi Stephen,
I got the same problem with RRA, when I run RRA using ik.mot from inverse kinematics, I got kinematics_q.sto from RRA which follows ik.mot, but state.sto became different. And this is after I change the weights in RRA Tasks file.
You mentioned that I should increase muscle strength in the model, do you mean the <max_isometric_force> for muscles?
Thanks,
Zhen