Definition of Task and Reserve Actuators for Computed Muscle Control (CMC)

[Francesca Dell''Eva]

Hello everyone,
I am developing a walking model using a simplified version of the Full Body model (modified by me).

What I would like to know is the value of muscles' excitations given a desired trajectory (and GRFs).
I was thinking that the right way to do so was Computed Muscle Control (CMC).

The problem is that it requires a file Task.xml and the .xml file about Residual Actuators:
- for Task.xml: I created a file saying to track all the actuated joints with a weight of 1. Is it wrong?

- for Residual Actuators I don't know what to put.. because actually I do not want additional actuation, I would like the sole muscles to perform the desired movement and then retrieved their excitation in the different times. Is it impossible not to have Residual actuators?

I do not see where my reasoning of obtaining muscles' excitations from kinematic is wrong.

Thank you for your help

Francesca