simtk.org

I am wondering when executing CMC and RRA is it possible to allow a joint to move a certain distance beyond that which has been defined in the desired trajectory.

Here's a simple example: An elbow bending motion is defined in the desired kinematics, but I don't mind if the angle of the elbow is up to 5 degrees out of sync with the defined kinematics at any time throughout the simulation.

Hi Mo,

Although we don't have this level of control, you can use the weights (specified in the Tasks file) to control how closely to track specific joint angles.

Hope this helps,
-Ayman