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When is range in a coordinate honored?

Posted: Thu Dec 09, 2021 8:59 am

by sietse

Hello List,
When doing forward dynamics and inverse kinematics it seems that the range restriction is not honored.
For example

Code: Select all

 <Coordinate name="footangle">
       <range>0.200 1.57</range>
 </Coordinate>

I thought that the purpose of a range is to restrict the possible values of the coordinate.
Am I missing something?
Thanks in advance,
Sietse

Re: When is range in a coordinate honored?

Posted: Thu Dec 09, 2021 6:58 pm

by ongcf

Double check that the "clamped" property is also set to true. If this is true, then the range should be taken into effect for inverse kinematics but not for forward dynamics. If you want to limit a coordinate in forward dynamics, consider adding a CoordinateLimitForce (https://simtk.org/api_docs/opensim/api_ ... Force.html) to the model.

Re: When is range in a coordinate honored?

Posted: Fri Dec 10, 2021 2:40 am

by sietse

Thanks!