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- Re-run RRA with the adjusted model making sure to close and re-open the RRA Tool to ensure the most recent adjusted model is always used.
- Adjust the pelvis COM and mass in accordance with the RRA Tool output messages.
- Plot your tracking errors from the RRA/leg6dof9musc_pErr.sto file. Verify whether the errors are reported in radians or degrees by opening the file in a text editor and reading the header.
- Increase the tracking task weights for coordinates that show poor tracking in the leg69_Tracking_Tasks.xml file.
- Decrease the tracking weight for coordinates that are within 1 degree (0.017 radians), since the optimizer can use these coordinates to reduce residuals.
- Iterate until the requested change in pelvis mass is less than 1 kg and the residual forces and coordinate errors follow the suggested thresholds in the table at the bottom of the Getting Started with RRA page. (Hint: try a pelvis mass of 56kg)
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