How to impose initial condition on an actuated joint in SimMechanics model?

I am currently trying to impose an initial condition on an actuated joint. However, this initial condition should not be imposed through the controller for the actuator. I want the two to be interdependent. Can you give me any advise on how to achieve achieve this?

Answer 1

[Steve Miller]

You can specify target values for the initial position and velocity for any joint. This is independent of the value that the controller determines at the start of simulation. You could link these two together using MATLAB variables.

Expand the State Targets group in the joint dialog box parameters. There is a State Targets group for each degree of freedom of the joint.

--Steve

[Guoping Zhao]

Hi Steve,

Is it possible to set the joint initial position and velocity as tunable parameter? I'm running the model in rapid mode. I have to recompile the model every time I change the joint initial condition.

I also posted the question here: https://www.mathworks.com/matlabcentral/answers/399559-simmechanics-joint-initial-condition-tunable-parameter

Thanks. --Guoping