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During Forward Simulations in particular, if the activations are such that the joint reaches the end of its range, even a clamped DOF will go out of range. It would be great if there were standard restraint torques that enforced those limits (the way locking the DOF in the GUI or osim file is enforced). This could be a totally new feature or the PassiveTorqueActuator could be improved to not require an activation (when I wrote it, it was a quick fix, and was written in such a way that because of how it inherits (is that the right word) it requires an activation, which isn't right). |
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