adding moco initial state info that depends on other state
Posted: Mon Jan 30, 2023 11:08 am
I use clutchedPathSpring and its stretch state has limits to bound in between.
The stretch must be starting from the formula of initial length and initial angle, which is also a state.
apparently, now i can fix the initial value for the stretch or, if not, it starts from a value which satisfies the goals.
so i need something like:
problem.setStateInfo(
"/jointset/knee_r/knee_angle_r/value", {-120 * Pi / 180, 10*Pi/180});
problem.setStateInfo("/forceset/clutch_spring_r/stretch", {0,0.13}, F(initKneeAngle) );
where F(initKneeAngle), is not free, it has a constrain to the initial angle.
is there an option to do this?
i know the c++ OpenSim Objects and can modify any if needed.
The stretch must be starting from the formula of initial length and initial angle, which is also a state.
apparently, now i can fix the initial value for the stretch or, if not, it starts from a value which satisfies the goals.
so i need something like:
problem.setStateInfo(
"/jointset/knee_r/knee_angle_r/value", {-120 * Pi / 180, 10*Pi/180});
problem.setStateInfo("/forceset/clutch_spring_r/stretch", {0,0.13}, F(initKneeAngle) );
where F(initKneeAngle), is not free, it has a constrain to the initial angle.
is there an option to do this?
i know the c++ OpenSim Objects and can modify any if needed.