The plot after following the instructions is as seen below:
I tried plotting Knee and ankle angle for different simulations. I notice that while using the controls from static optimization, there is a huge difference in the joint angles (*FWD_SO). As it is asked in the question Part I - C-3, Why does the Forward simulation using the Static Optimization controls diverge from the IK solution? May I know the answer to this?
Also, while doing CMC, a pre-defined set of CMC_Swing_Tracking_Tasks.xml & muscle control_limits.xml were provided. If I had to make such for 2392 model or a custom one, how should I proceed? May I know how would I find the kp,kc,ka,.. values for each CMC joint?
