In theory [this function](https://github.com/keenon/nimblephysics/blob/790084e6e1664635e07672d2b7cbf1529a98102d/dart/dynamics/Skeleton.cpp#L9553) should take care of joint angle wrapping, but it failed and caught by [this line](https://github.com/keenon/AddBiomechanics/blob/6c9f0340c8e6a503d15d778610b70b93720d073c/server/engine/src/trial.py#L410C38-L410C39). Here are [the files](https://drive.google.com/open?id=1v-dkXN9rNysx0AG9ZzwV6qxjnfoilTLU&usp=drive_fs) for reproducing this issue. Search "ERROR: Unwrapped joint pose is out of bounds" in the log.txt for details.
In theory this function should take care of joint angle wrapping, but it failed and caught by this line.
Here are the files for reproducing this issue. Search "ERROR: Unwrapped joint pose is out of bounds" in the log.txt for details.