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Hi!

I have a doubt about the results I am getting. The results show uncharacteristic spikes and sudden variations during the motion, which make no sense.
The images below are for CMC and JointReaction analysis, respectively.
My question is: Is there any way to "smooth" the results?
Thank you so much in advance!

Best regards,

Rodrigo Mateus

You don't want to smooth the results, you want to find why you get the spikes. From your description is hard to tell. It is possible that you didn't configure the CMC tool correctly. You have to check at the reserve actuators and other output results to find the root of the problem.

Furthermore, your joint reaction loads are somehow high for a minimum effort solution. What kind of motion are you performing? Did you include any externally applied forces (e.g. GRF) in your analysis?

I'm sorry I should have explained better.I am utilizing the gait2392 model and I am analyzing a sudden stop motion with one leg after a sprint (thus the forces I am getting) and yes I am including externally applied forces.

My CMC setup file is rather standard, here are some configurations:
maximum_number_of_integrator_steps = 30000
Maximum integration step size = 1
integrator_error_tolerance = 1e-005
use_fast_optimization_target --> true
optimizer_algorithm-->ipopt
Maximum number of iterations for the optimizer-->2000

The tasks, constraints and actuator files are relatively simple as well.

Ok I will check but, in your opinion, what should be the first thing I have to look for?