RRA uses the old InverseDynamics (analysis) and that required the same "fix" as StaticOptimizationTarget to associate the motion to the correct coordinate.

Also added a check to see if rra.run() returns false and then to throw an exception. I did not make run() throw the exception because it looked like some effort was put in to have the method return false and not throw - probably the GUI depends on this instead of handling the Exception.

Simplified hack in CMC_TaskSet to use access the coordinate that is already available (instead of using model.getComponent() to find it)