1. Why does the pelvis translate substantially in the y-direction (pelvis_ty coordinate) during the simulation?
  2. Plot the RRA residual actuator forces (i.e., MZ, FX, and FY) from leg6dof9musc_controls.sto.
  3. Open the Messages pane and locate the recommended overall mass adjustment from the last run of RRA (e.g., "pelvis: orig mass = 10.7538, new mass = xxxxx"). Note that the units are in kilograms (kg). What is the recommended mass adjustment? Why would the mass adjustment be so large?