tkuchida
commented
6 years ago Fixed by #2114
Closed tkuchida closed 6 years ago
tkuchida
commented
6 years ago Fixed by #2114
ThorneShao
commented
1 year ago how can we solve this issue?
See "Strength of Simulation" example, Part I, Section D, first unordered list. Messages window:
Updating Model file from 20303 to latest format... Loaded model leg6dof9musc from file C:\Models\Leg6Dof9Musc\leg6dof9musc.osim Running tool leg6dof9musc. No external loads will be applied (external loads file not specified). taskSet size = 3 CMC::Warning: CMC cannot compute controls for muscles with muscle controls < 0.02. The minimum control limit for muscle 'bifemlh_r' has been reset to 0.02. CMC::Warning: CMC cannot compute controls for muscles with muscle controls < 0.02. The minimum control limit for muscle 'bifemsh_r' has been reset to 0.02. CMC::Warning: CMC cannot compute controls for muscles with muscle controls < 0.02. The minimum control limit for muscle 'glut_max2_r' has been reset to 0.02. CMC::Warning: CMC cannot compute controls for muscles with muscle controls < 0.02. The minimum control limit for muscle 'psoas_r' has been reset to 0.02. CMC::Warning: CMC cannot compute controls for muscles with muscle controls < 0.02. The minimum control limit for muscle 'rect_fem_r' has been reset to 0.02. CMC::Warning: CMC cannot compute controls for muscles with muscle controls < 0.02. The minimum control limit for muscle 'vas_int_r' has been reset to 0.02. CMC::Warning: CMC cannot compute controls for muscles with muscle controls < 0.02. The minimum control limit for muscle 'med_gas_r' has been reset to 0.02. CMC::Warning: CMC cannot compute controls for muscles with muscle controls < 0.02. The minimum control limit for muscle 'soleus_r' has been reset to 0.02. CMC::Warning: CMC cannot compute controls for muscles with muscle controls < 0.02. The minimum control limit for muscle 'tib_ant_r' has been reset to 0.02. WARN- a desired points file was not specified. Loading desired kinematics from file C:\Models\Leg6Dof9Musc\Swing\leg69_IK_swing.mot ... Storage: file=C:\Models\Leg6Dof9Musc\Swing\leg69_IK_swing.mot (nr=31 nc=33) Low-pass filtering desired kinematics with a cutoff frequency of 6... MODEL: leg6dof9musc numStates = 32 numCoordinates = 7 numSpeeds = 7 numActuators = 9 numBodies = 7 numConstraints = 1 numProbes = 0 ANALYSES (total: 2) analysis[0] = Un-named analysis. analysis[1] = Un-named analysis. BODIES (total: 7) body[0] = pelvis. mass: 10.7538 moments of inertia: ~[0.1027,0.0870155,0.0578439] products of inertia: ~[0,0,0] body[1] = femur_r. mass: 8.54927 moments of inertia: ~[0.169564,0.0444489,0.178809] products of inertia: ~[0,0,0] body[2] = tibia_r. mass: 4.67404 moments of inertia: ~[0.0802351,0.00811903,0.0813495] products of inertia: ~[0,0,0] body[3] = patella_r. mass: 0.0919138 moments of inertia: ~[0.00110296,0.00110296,0.00110296] products of inertia: ~[0,0,0] body[4] = talus_r. mass: 0.126069 moments of inertia: ~[0.00202166,0.00202166,0.00202166] products of inertia: ~[0,0,0] body[5] = calcn_r. mass: 1.07225 moments of inertia: ~[0.00090462,0.00361848,0.00361848] products of inertia: ~[0,0,0] body[6] = toes_r. mass: 0.186142 moments of inertia: ~[0,0,0.00090462] products of inertia: ~[0,0,0] JOINTS (total: 7) joint[0] = ground_pelvis. parent: ground_offset, child: pelvis joint[1] = hip_r. parent: pelvis_offset, child: femur_r joint[2] = knee_r. parent: femur_r, child: tibia_r joint[3] = tib_pat_r. parent: tibia_r, child: patella_r joint[4] = ankle_r. parent: tibia_r_offset, child: talus_r joint[5] = subtalar_r. parent: talus_r_offset, child: calcn_r joint[6] = mtp_r. parent: calcn_r_offset, child: toes_r ACTUATORS (total: 9) actuator[0] = bifemlh_r actuator[1] = bifemsh_r actuator[2] = glut_max2_r actuator[3] = psoas_r actuator[4] = rect_fem_r actuator[5] = vas_int_r actuator[6] = med_gas_r actuator[7] = soleus_r actuator[8] = tib_ant_r STATES (total: 32) y[0] = ground_pelvis/pelvis_tilt/value y[1] = ground_pelvis/pelvis_tilt/speed y[2] = ground_pelvis/pelvis_tx/value y[3] = ground_pelvis/pelvis_tx/speed y[4] = ground_pelvis/pelvis_ty/value y[5] = ground_pelvis/pelvis_ty/speed y[6] = hip_r/hip_flexion_r/value y[7] = hip_r/hip_flexion_r/speed y[8] = knee_r/knee_angle_r/value y[9] = knee_r/knee_angle_r/speed y[10] = tib_pat_r/knee_angle_pat_r/value y[11] = tib_pat_r/knee_angle_pat_r/speed y[12] = ankle_r/ankle_angle_r/value y[13] = ankle_r/ankle_angle_r/speed y[14] = bifemlh_r/activation y[15] = bifemlh_r/fiber_length y[16] = bifemsh_r/activation y[17] = bifemsh_r/fiber_length y[18] = glut_max2_r/activation y[19] = glut_max2_r/fiber_length y[20] = psoas_r/activation y[21] = psoas_r/fiber_length y[22] = rect_fem_r/activation y[23] = rect_fem_r/fiber_length y[24] = vas_int_r/activation y[25] = vas_int_r/fiber_length y[26] = med_gas_r/activation y[27] = med_gas_r/fiber_length y[28] = soleus_r/activation y[29] = soleus_r/fiber_length y[30] = tib_ant_r/activation y[31] = tib_ant_r/fiber_length Coordinate.setValue: WARN- coordinate pelvis_tilt is locked. Unable to change its value. Coordinate.setValue: WARN- coordinate pelvis_tx is locked. Unable to change its value. Coordinate.setValue: WARN- coordinate pelvis_ty is locked. Unable to change its value. Constructing function set for tracking desired kinematics... No Actuation analysis found in analysis set -- adding one No Kinematics analysis found in analysis set -- adding one Using the generalized coordinates specified in C:\Models\Leg6Dof9Musc\Swing\leg69_IK_swing.mot to set the initial configuration. Using IPOPT optimizer algorithm. Setting optimizer print level to 0. Setting optimizer convergence tolerance to 0.0001. Setting optimizer maximum iterations to 1000. Setting cmc controller to not use verbose printing. ================================================================ ================================================================ Computing initial values for muscles states (activation, length) Start time = Wed Feb 14 21:41:13 2018 ================================================================ CMC.computeControls: t = 0.116667 CMC.computeControls: t = 0.116667 ---------------------------------------------------------------- Finished computing initial states: ---------------------------------------------------------------- ================================================================ Start time = Wed Feb 14 21:41:13 2018 Finish time = Wed Feb 14 21:41:41 2018 Elapsed time = 28 seconds. ================================================================ ================================================================ ================================================================ Using CMC to track the specified kinematics Integrating from 0.146667 to 0.616667 Start time = Wed Feb 14 21:41:41 2018 ================================================================ CMC.computeControls: t = 0.146667 SimTK Exception thrown at InteriorPointOptimizer.cpp:264: Optimizer failed: Ipopt: Infeasible problem detected (status 2) OPTIMIZATION FAILED... CMC.computeControls: ERROR- Optimizer could not find a solution. Unable to find a feasible solution at time = 0.146667. Model cannot generate the forces necessary to achieve the target acceleration. Possible issues: 1. not all model degrees-of-freedom are actuated, 2. there are tracking tasks for locked coordinates, and/or 3. there are unnecessary control constraints on reserve/residual actuators.(AppVeyor artifact OpenSim-dd7dc47b-2018-02-11.zip)