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RRA begins by placing the model in the starting configuration, i.e., by setting the values of the model's generalized coordinates to the values computed by the inverse kinematics (IK) tool for the user-specified initial time (specified in the setup file as the <initial_time> property). Repeatedly, RRA takes small steps forward in time (with each time step of .001) until the user-specified final time (specified under the <final_time> property of the setup file) is reached. In each step, force values are computed for all of the model's actuators to make the model move from its current configuration to the configuration (generalized coordinates) desired at the end of the step, which is computed from the IK output. The actuator forces are computed by choosing force and torque values that minimize an objective function (see __40__ Settings Files and XML Tag Definitions on Optimization Parameters).

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