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- Ensure you have loaded your final model from the previous section on RRA.
- From the Edit menu, select "File (.xml)..." and open the leg69_RRA_residuals_motors.xml file, which contains information on the residual and motor actuators necessary for CMC.
- Reduce the optimal force of the joint motors Coordinate Actuators that actuate the ankle, hip, and knee to 1 so that they are penalized during CMC and muscles are favored to generate joint moments.
- Save the edited actuators as a new file (e.g., leg69_CMC_residuals_motors.xml).
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