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Hi, I'm trying to create a standing balance model, like the one in the tutorial 3, but with more complex model that I have found on OpenSim forums.

The problem happens when I optimize the scenario and the ankles bend up (see images attached). I tried to change the DoF of the model, reducing the free movements of the ankles; also I tried to add a point-on-line constraint on the toes or add a DoFMeasure to force the ankles to keep their original position, but nothing works.

Any idea why this happens or how to solve it?

Sorry for the late response!

It appears that there is no CoordinateLimitForce for the ankle coordinates. These are required to make sure they stay in the proper range.

Thanks it works fine now. I have other more complex model without the CoordinateLimitForce and it works, but I don't know why this more simple model needs it.