Controllers with Coordinate Coupler Constraints

Nadine Domnik · Post by **Nadine Domnik** » Thu Nov 25, 2021 12:15 pm

Hi there!

I am currently trying to set up a shoulder model in a Reinforcement Learning Environment, to let the model learn muscle activations.
I am using a modified version of the available Stanford Upper Extremity Model. So far so good but as soon as I use "Coordinate Coupler Constraints", SimTK is throwing an error:

Code: Select all

RuntimeError: std::exception in 'SimTK::State const & OpenSim::Manager::integrate(double)': SimTK Exception thrown at abstractintegratorrep.cpp:428:
  Integrator step failed at time 0 apparently because:
SimTK Exception thrown at abstractintegratorrep.cpp:547:
  Error detected by Simbody method AbstractIntegrator::takeOneStep(): Unable to advance time past 0.
  (Required condition 't1 > t0' was not met.)

Does anyone have an idea why and how I can solve that issue?
Any help is a lot appreciated

Cheers!