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  1. From the IK results, plot hip flexion, knee angle, and ankle angle as functions of time.
  2. From the FWD_locked results, plot hip flexion, knee angle, and ankle angle as functions of time.
  3. Discuss the difference in joint trajectories between the inverse kinematic and forward dynamic simulations.
  4. Examine the pelvis_tilt, pelvis_tx, and pelvis_ty coordinates of the IK solution, and discuss the effect of locking the coordinates in the forward simulation.

 

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