Joint displacement limit

[Moe Curtin]

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.

[Ayman Habib]

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