- Plot the hip flexion, knee angle, and ankle angle coordinates from the CMC solution along with the coordinates for from the IK solution.
- Run a forward simulation using the controls from the CMC solution and plot the Plot the hip flexion, knee angle, and ankle angle coordinates from the Forward simulation that used controls found by CMC, along with the coordinates for from the IK solution. Are the simulated trajectories better or worse than the Static Optimization results? What is responsible for the difference?
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