Hi everyone,

I ask for your precious help about AMMR full-body model.

I need to apply a force (F) which at time step n accounts for the contribution of a reaction force (Fr) calculated at the previous time step (n-1). In particular, F is applied to a lumbar joint, and Fr is the 'y' component of Fr in the same joint.

Actually it seems that it is not feasible, since Fr is an 'OutputVar' and thus is not ready for evaluation when the model computes F at the beginning of the simulation. I wonder if there is any solution, for example by setting an initial value for Fr before running the inverse dynamics process, and let the model to use that value in applying F at time step 1.

Many thanks in advance.

Tito