A question about the position of joint center

Could I make the position of joint center change with time as a function?
The postion of joint center defined by “sRel”. Could I use the “AnyFunInterpol” to define the position of joint center?

If could, could u please offer me a code? Many thanks.:smiley:


I tried to implement something like that, but it seems that it is not really possible. There might be ‘cheats’, but it might be easiest to add an extra segment and drive it wrt. to the first segment.

Kind regards,