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- In the Input pane, select "Loaded motion" and use the "ik trial" motion from the previous step.
- Check the box to filter the coordinates and set the cutoff frequency to 6 Hz.
- Set the time range to between 0.5 and 1.5 seconds.
- Specify an output directory (e.g., <YourWorkingDir>\Stance\ID).
- Select the External Loads tab and check the External Loads box.
- Edit the External Loads settings by clicking the pencil icon to the right of the textbox.
- Select leg69_stance_grf.mot as the "Force data file". This file describes the force applied at the foot's center of pressure (CoP).
- Select leg69_IK_stance.mot as the "Kinematics for external loads".
- Select "Filter kinematics" and specify a cutoff frequency of 6 Hz.
- Add the forces listed in the motion file by clicking the "Add..." button.
- Provide a name (e.g., "Right_GRF").
- Apply the force to the calcn_r body.
- Check "Applies Force" and select "Point Force".
- Force Columns: select "ground_force_vx" from the first drop-down box; "ground_force_vy" and "ground_force_vz" will be selected automatically.
- Point Columns: select "ground_force_px" from the first drop-down box; the corresponding "y" and "z" entries will again be populated automatically.
- The GRF free moment is a torque, so check "Applies Torque".
- Torque Columns: select "ground_torque_x", "ground_torque_y", and "ground_torque_z".
- The GRF and CoP are both expressed in the ground (laboratory) frame, so click OK.
- Click "Save..." and enter a filename for the External Force input (e.g., leg69_right_GRF.xml).
- Click "Save..." and enter a filename for the ID settings (e.g., leg69_Setup_ID_stance.xml).
- Run the tool, then close the Inverse Dynamics Tool window.
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