NaN detected for output jac_g_x
Posted: Thu Nov 02, 2023 10:36 am
Hi,
I am trying to run a torque-driven tracking simulation of a walking sequence.
The model is Rajagopal2015.
I do not provide any experimental ground reaction forces, instead I add contact spheres to the model.
I do provide a .mot file with joint angles.
When I run it, I am welcomed with a CasADi error, which tells me NaN detected for output jac_g_x. The "differential equation defects" output show that the L2 norm across mesh and the max abs value (L1 norm) are equal to -nan for every joint speed at the first frame.
However, the speeds in my tracked_states.sto file seem to be reasonable.
Same for the last two kinematic constraints, having nana values. (Why are there 5? I should only have 2 of them).
Full error message:
There is probably something that I am doing wrong, but I can't put my finger on it.
I did replace my locked joints with Welds. Maybe my actuator bounds are not valid? Or something else?
Thank you in advance for your help!
P.S.: Subsidiary question:
How are mesh points split (see "Kinematic constraint values at each mesh point")? I track joint motion for 1.45-0.07=1.38s, with a meshInderval of 0.05. This leads to about 28 mesh points, which looks correct.
But then the points are separated by 0.025, and the time only goes up to 0.76 instead of 1.45
I am trying to run a torque-driven tracking simulation of a walking sequence.
The model is Rajagopal2015.
I do not provide any experimental ground reaction forces, instead I add contact spheres to the model.
I do provide a .mot file with joint angles.
When I run it, I am welcomed with a CasADi error, which tells me NaN detected for output jac_g_x. The "differential equation defects" output show that the L2 norm across mesh and the max abs value (L1 norm) are equal to -nan for every joint speed at the first frame.
However, the speeds in my tracked_states.sto file seem to be reasonable.
Same for the last two kinematic constraints, having nana values. (Why are there 5? I should only have 2 of them).
Full error message:
Code: Select all
[info] ========================================================================
[info] MocoCasADiSolver starting.
[info] Thu Nov 2 17:47:54 2023
[info] ------------------------------------------------------------------------
Costs: (total: 2)
state_tracking. MocoStateTrackingGoal, enabled: true, mode: cost, weight: 1.0
state: /jointset/ground_pelvis/pelvis_tilt/value, weight: 10.0
state: /jointset/ground_pelvis/pelvis_list/value, weight: 1.0
state: /jointset/ground_pelvis/pelvis_rotation/value, weight: 1.0
state: /jointset/ground_pelvis/pelvis_tx/value, weight: 1.0
state: /jointset/ground_pelvis/pelvis_ty/value, weight: 1.0
state: /jointset/ground_pelvis/pelvis_tz/value, weight: 1.0
state: /jointset/hip_r/hip_flexion_r/value, weight: 10.0
state: /jointset/hip_r/hip_adduction_r/value, weight: 1.0
state: /jointset/hip_r/hip_rotation_r/value, weight: 1.0
state: /jointset/walker_knee_r/knee_angle_r/value, weight: 10.0
state: /jointset/patellofemoral_r/knee_angle_r_beta/value, weight: 0.0
state: /jointset/ankle_r/ankle_angle_r/value, weight: 10.0
state: /jointset/hip_l/hip_flexion_l/value, weight: 10.0
state: /jointset/hip_l/hip_adduction_l/value, weight: 1.0
state: /jointset/hip_l/hip_rotation_l/value, weight: 1.0
state: /jointset/walker_knee_l/knee_angle_l/value, weight: 10.0
state: /jointset/patellofemoral_l/knee_angle_l_beta/value, weight: 0.0
state: /jointset/ankle_l/ankle_angle_l/value, weight: 10.0
state: /jointset/back/lumbar_extension/value, weight: 10.0
state: /jointset/back/lumbar_bending/value, weight: 1.0
state: /jointset/back/lumbar_rotation/value, weight: 1.0
state: /jointset/acromial_r/arm_flex_r/value, weight: 1.0
state: /jointset/acromial_r/arm_add_r/value, weight: 1.0
state: /jointset/acromial_r/arm_rot_r/value, weight: 1.0
state: /jointset/elbow_r/elbow_flex_r/value, weight: 1.0
state: /jointset/radioulnar_r/pro_sup_r/value, weight: 1.0
state: /jointset/acromial_l/arm_flex_l/value, weight: 1.0
state: /jointset/acromial_l/arm_add_l/value, weight: 1.0
state: /jointset/acromial_l/arm_rot_l/value, weight: 1.0
state: /jointset/elbow_l/elbow_flex_l/value, weight: 1.0
state: /jointset/radioulnar_l/pro_sup_l/value, weight: 1.0
state: /jointset/ground_pelvis/pelvis_tilt/speed, weight: 10.0
state: /jointset/ground_pelvis/pelvis_list/speed, weight: 1.0
state: /jointset/ground_pelvis/pelvis_rotation/speed, weight: 1.0
state: /jointset/ground_pelvis/pelvis_tx/speed, weight: 1.0
state: /jointset/ground_pelvis/pelvis_ty/speed, weight: 1.0
state: /jointset/ground_pelvis/pelvis_tz/speed, weight: 1.0
state: /jointset/hip_r/hip_flexion_r/speed, weight: 10.0
state: /jointset/hip_r/hip_adduction_r/speed, weight: 1.0
state: /jointset/hip_r/hip_rotation_r/speed, weight: 1.0
state: /jointset/walker_knee_r/knee_angle_r/speed, weight: 10.0
state: /jointset/patellofemoral_r/knee_angle_r_beta/speed, weight: 0.0
state: /jointset/ankle_r/ankle_angle_r/speed, weight: 10.0
state: /jointset/hip_l/hip_flexion_l/speed, weight: 10.0
state: /jointset/hip_l/hip_adduction_l/speed, weight: 1.0
state: /jointset/hip_l/hip_rotation_l/speed, weight: 1.0
state: /jointset/walker_knee_l/knee_angle_l/speed, weight: 10.0
state: /jointset/patellofemoral_l/knee_angle_l_beta/speed, weight: 0.0
state: /jointset/ankle_l/ankle_angle_l/speed, weight: 10.0
state: /jointset/back/lumbar_extension/speed, weight: 10.0
state: /jointset/back/lumbar_bending/speed, weight: 1.0
state: /jointset/back/lumbar_rotation/speed, weight: 1.0
state: /jointset/acromial_r/arm_flex_r/speed, weight: 1.0
state: /jointset/acromial_r/arm_add_r/speed, weight: 1.0
state: /jointset/acromial_r/arm_rot_r/speed, weight: 1.0
state: /jointset/elbow_r/elbow_flex_r/speed, weight: 1.0
state: /jointset/radioulnar_r/pro_sup_r/speed, weight: 1.0
state: /jointset/acromial_l/arm_flex_l/speed, weight: 1.0
state: /jointset/acromial_l/arm_add_l/speed, weight: 1.0
state: /jointset/acromial_l/arm_rot_l/speed, weight: 1.0
state: /jointset/elbow_l/elbow_flex_l/speed, weight: 1.0
state: /jointset/radioulnar_l/pro_sup_l/speed, weight: 1.0
control_effort. MocoControlGoal, enabled: true, mode: cost, weight: 0.1
control: /forceset/reserve_jointset_ground_pelvis_pelvis_tilt, weight: 1.0
control: /forceset/reserve_jointset_ground_pelvis_pelvis_list, weight: 1.0
control: /forceset/reserve_jointset_ground_pelvis_pelvis_rotation, weight: 1.0
control: /forceset/reserve_jointset_ground_pelvis_pelvis_tx, weight: 1.0
control: /forceset/reserve_jointset_ground_pelvis_pelvis_ty, weight: 1.0
control: /forceset/reserve_jointset_ground_pelvis_pelvis_tz, weight: 1.0
control: /forceset/reserve_jointset_hip_r_hip_flexion_r, weight: 1.0
control: /forceset/reserve_jointset_hip_r_hip_adduction_r, weight: 1.0
control: /forceset/reserve_jointset_hip_r_hip_rotation_r, weight: 1.0
control: /forceset/reserve_jointset_walker_knee_r_knee_angle_r, weight: 1.0
control: /forceset/reserve_jointset_ankle_r_ankle_angle_r, weight: 1.0
control: /forceset/reserve_jointset_hip_l_hip_flexion_l, weight: 1.0
control: /forceset/reserve_jointset_hip_l_hip_adduction_l, weight: 1.0
control: /forceset/reserve_jointset_hip_l_hip_rotation_l, weight: 1.0
control: /forceset/reserve_jointset_walker_knee_l_knee_angle_l, weight: 1.0
control: /forceset/reserve_jointset_ankle_l_ankle_angle_l, weight: 1.0
control: /forceset/reserve_jointset_back_lumbar_extension, weight: 1.0
control: /forceset/reserve_jointset_back_lumbar_bending, weight: 1.0
control: /forceset/reserve_jointset_back_lumbar_rotation, weight: 1.0
control: /forceset/reserve_jointset_acromial_r_arm_flex_r, weight: 1.0
control: /forceset/reserve_jointset_acromial_r_arm_add_r, weight: 1.0
control: /forceset/reserve_jointset_acromial_r_arm_rot_r, weight: 1.0
control: /forceset/reserve_jointset_elbow_r_elbow_flex_r, weight: 1.0
control: /forceset/reserve_jointset_radioulnar_r_pro_sup_r, weight: 1.0
control: /forceset/reserve_jointset_acromial_l_arm_flex_l, weight: 1.0
control: /forceset/reserve_jointset_acromial_l_arm_add_l, weight: 1.0
control: /forceset/reserve_jointset_acromial_l_arm_rot_l, weight: 1.0
control: /forceset/reserve_jointset_elbow_l_elbow_flex_l, weight: 1.0
control: /forceset/reserve_jointset_radioulnar_l_pro_sup_l, weight: 1.0
Endpoint constraints: (total: 1)
periodicityGoal. MocoPeriodicityGoal, enabled: true, mode: endpoint_constraint
state periodicity pairs:
initial: /jointset/ground_pelvis/pelvis_tilt/value, final: /jointset/ground_pelvis/pelvis_tilt/value
initial: /jointset/ground_pelvis/pelvis_tilt/speed, final: /jointset/ground_pelvis/pelvis_tilt/speed
initial: /jointset/ground_pelvis/pelvis_list/value, final: /jointset/ground_pelvis/pelvis_list/value
initial: /jointset/ground_pelvis/pelvis_list/speed, final: /jointset/ground_pelvis/pelvis_list/speed
initial: /jointset/ground_pelvis/pelvis_rotation/value, final: /jointset/ground_pelvis/pelvis_rotation/value
initial: /jointset/ground_pelvis/pelvis_rotation/speed, final: /jointset/ground_pelvis/pelvis_rotation/speed
initial: /jointset/ground_pelvis/pelvis_tx/speed, final: /jointset/ground_pelvis/pelvis_tx/speed
initial: /jointset/ground_pelvis/pelvis_ty/value, final: /jointset/ground_pelvis/pelvis_ty/value
initial: /jointset/ground_pelvis/pelvis_ty/speed, final: /jointset/ground_pelvis/pelvis_ty/speed
initial: /jointset/ground_pelvis/pelvis_tz/value, final: /jointset/ground_pelvis/pelvis_tz/value
initial: /jointset/ground_pelvis/pelvis_tz/speed, final: /jointset/ground_pelvis/pelvis_tz/speed
initial: /jointset/hip_r/hip_flexion_r/value, final: /jointset/hip_r/hip_flexion_r/value
initial: /jointset/hip_r/hip_flexion_r/speed, final: /jointset/hip_r/hip_flexion_r/speed
initial: /jointset/hip_r/hip_adduction_r/value, final: /jointset/hip_r/hip_adduction_r/value
initial: /jointset/hip_r/hip_adduction_r/speed, final: /jointset/hip_r/hip_adduction_r/speed
initial: /jointset/hip_r/hip_rotation_r/value, final: /jointset/hip_r/hip_rotation_r/value
initial: /jointset/hip_r/hip_rotation_r/speed, final: /jointset/hip_r/hip_rotation_r/speed
initial: /jointset/walker_knee_r/knee_angle_r/value, final: /jointset/walker_knee_r/knee_angle_r/value
initial: /jointset/walker_knee_r/knee_angle_r/speed, final: /jointset/walker_knee_r/knee_angle_r/speed
initial: /jointset/patellofemoral_r/knee_angle_r_beta/value, final: /jointset/patellofemoral_r/knee_angle_r_beta/value
initial: /jointset/patellofemoral_r/knee_angle_r_beta/speed, final: /jointset/patellofemoral_r/knee_angle_r_beta/speed
initial: /jointset/ankle_r/ankle_angle_r/value, final: /jointset/ankle_r/ankle_angle_r/value
initial: /jointset/ankle_r/ankle_angle_r/speed, final: /jointset/ankle_r/ankle_angle_r/speed
initial: /jointset/hip_l/hip_flexion_l/value, final: /jointset/hip_l/hip_flexion_l/value
initial: /jointset/hip_l/hip_flexion_l/speed, final: /jointset/hip_l/hip_flexion_l/speed
initial: /jointset/hip_l/hip_adduction_l/value, final: /jointset/hip_l/hip_adduction_l/value
initial: /jointset/hip_l/hip_adduction_l/speed, final: /jointset/hip_l/hip_adduction_l/speed
initial: /jointset/hip_l/hip_rotation_l/value, final: /jointset/hip_l/hip_rotation_l/value
initial: /jointset/hip_l/hip_rotation_l/speed, final: /jointset/hip_l/hip_rotation_l/speed
initial: /jointset/walker_knee_l/knee_angle_l/value, final: /jointset/walker_knee_l/knee_angle_l/value
initial: /jointset/walker_knee_l/knee_angle_l/speed, final: /jointset/walker_knee_l/knee_angle_l/speed
initial: /jointset/patellofemoral_l/knee_angle_l_beta/value, final: /jointset/patellofemoral_l/knee_angle_l_beta/value
initial: /jointset/patellofemoral_l/knee_angle_l_beta/speed, final: /jointset/patellofemoral_l/knee_angle_l_beta/speed
initial: /jointset/ankle_l/ankle_angle_l/value, final: /jointset/ankle_l/ankle_angle_l/value
initial: /jointset/ankle_l/ankle_angle_l/speed, final: /jointset/ankle_l/ankle_angle_l/speed
initial: /jointset/back/lumbar_extension/value, final: /jointset/back/lumbar_extension/value
initial: /jointset/back/lumbar_extension/speed, final: /jointset/back/lumbar_extension/speed
initial: /jointset/back/lumbar_bending/value, final: /jointset/back/lumbar_bending/value
initial: /jointset/back/lumbar_bending/speed, final: /jointset/back/lumbar_bending/speed
initial: /jointset/back/lumbar_rotation/value, final: /jointset/back/lumbar_rotation/value
initial: /jointset/back/lumbar_rotation/speed, final: /jointset/back/lumbar_rotation/speed
initial: /jointset/acromial_r/arm_flex_r/value, final: /jointset/acromial_r/arm_flex_r/value
initial: /jointset/acromial_r/arm_flex_r/speed, final: /jointset/acromial_r/arm_flex_r/speed
initial: /jointset/acromial_r/arm_add_r/value, final: /jointset/acromial_r/arm_add_r/value
initial: /jointset/acromial_r/arm_add_r/speed, final: /jointset/acromial_r/arm_add_r/speed
initial: /jointset/acromial_r/arm_rot_r/value, final: /jointset/acromial_r/arm_rot_r/value
initial: /jointset/acromial_r/arm_rot_r/speed, final: /jointset/acromial_r/arm_rot_r/speed
initial: /jointset/elbow_r/elbow_flex_r/value, final: /jointset/elbow_r/elbow_flex_r/value
initial: /jointset/elbow_r/elbow_flex_r/speed, final: /jointset/elbow_r/elbow_flex_r/speed
initial: /jointset/radioulnar_r/pro_sup_r/value, final: /jointset/radioulnar_r/pro_sup_r/value
initial: /jointset/radioulnar_r/pro_sup_r/speed, final: /jointset/radioulnar_r/pro_sup_r/speed
initial: /jointset/acromial_l/arm_flex_l/value, final: /jointset/acromial_l/arm_flex_l/value
initial: /jointset/acromial_l/arm_flex_l/speed, final: /jointset/acromial_l/arm_flex_l/speed
initial: /jointset/acromial_l/arm_add_l/value, final: /jointset/acromial_l/arm_add_l/value
initial: /jointset/acromial_l/arm_add_l/speed, final: /jointset/acromial_l/arm_add_l/speed
initial: /jointset/acromial_l/arm_rot_l/value, final: /jointset/acromial_l/arm_rot_l/value
initial: /jointset/acromial_l/arm_rot_l/speed, final: /jointset/acromial_l/arm_rot_l/speed
initial: /jointset/elbow_l/elbow_flex_l/value, final: /jointset/elbow_l/elbow_flex_l/value
initial: /jointset/elbow_l/elbow_flex_l/speed, final: /jointset/elbow_l/elbow_flex_l/speed
initial: /jointset/radioulnar_l/pro_sup_l/value, final: /jointset/radioulnar_l/pro_sup_l/value
initial: /jointset/radioulnar_l/pro_sup_l/speed, final: /jointset/radioulnar_l/pro_sup_l/speed
control periodicity pairs:
initial: /forceset/reserve_jointset_ground_pelvis_pelvis_tilt, final: /forceset/reserve_jointset_ground_pelvis_pelvis_tilt
initial: /forceset/reserve_jointset_ground_pelvis_pelvis_list, final: /forceset/reserve_jointset_ground_pelvis_pelvis_list
initial: /forceset/reserve_jointset_ground_pelvis_pelvis_rotation, final: /forceset/reserve_jointset_ground_pelvis_pelvis_rotation
initial: /forceset/reserve_jointset_ground_pelvis_pelvis_tx, final: /forceset/reserve_jointset_ground_pelvis_pelvis_tx
initial: /forceset/reserve_jointset_ground_pelvis_pelvis_ty, final: /forceset/reserve_jointset_ground_pelvis_pelvis_ty
initial: /forceset/reserve_jointset_ground_pelvis_pelvis_tz, final: /forceset/reserve_jointset_ground_pelvis_pelvis_tz
initial: /forceset/reserve_jointset_hip_r_hip_flexion_r, final: /forceset/reserve_jointset_hip_r_hip_flexion_r
initial: /forceset/reserve_jointset_hip_r_hip_adduction_r, final: /forceset/reserve_jointset_hip_r_hip_adduction_r
initial: /forceset/reserve_jointset_hip_r_hip_rotation_r, final: /forceset/reserve_jointset_hip_r_hip_rotation_r
initial: /forceset/reserve_jointset_walker_knee_r_knee_angle_r, final: /forceset/reserve_jointset_walker_knee_r_knee_angle_r
initial: /forceset/reserve_jointset_ankle_r_ankle_angle_r, final: /forceset/reserve_jointset_ankle_r_ankle_angle_r
initial: /forceset/reserve_jointset_hip_l_hip_flexion_l, final: /forceset/reserve_jointset_hip_l_hip_flexion_l
initial: /forceset/reserve_jointset_hip_l_hip_adduction_l, final: /forceset/reserve_jointset_hip_l_hip_adduction_l
initial: /forceset/reserve_jointset_hip_l_hip_rotation_l, final: /forceset/reserve_jointset_hip_l_hip_rotation_l
initial: /forceset/reserve_jointset_walker_knee_l_knee_angle_l, final: /forceset/reserve_jointset_walker_knee_l_knee_angle_l
initial: /forceset/reserve_jointset_ankle_l_ankle_angle_l, final: /forceset/reserve_jointset_ankle_l_ankle_angle_l
initial: /forceset/reserve_jointset_back_lumbar_extension, final: /forceset/reserve_jointset_back_lumbar_extension
initial: /forceset/reserve_jointset_back_lumbar_bending, final: /forceset/reserve_jointset_back_lumbar_bending
initial: /forceset/reserve_jointset_back_lumbar_rotation, final: /forceset/reserve_jointset_back_lumbar_rotation
initial: /forceset/reserve_jointset_acromial_r_arm_flex_r, final: /forceset/reserve_jointset_acromial_r_arm_flex_r
initial: /forceset/reserve_jointset_acromial_r_arm_add_r, final: /forceset/reserve_jointset_acromial_r_arm_add_r
initial: /forceset/reserve_jointset_acromial_r_arm_rot_r, final: /forceset/reserve_jointset_acromial_r_arm_rot_r
initial: /forceset/reserve_jointset_elbow_r_elbow_flex_r, final: /forceset/reserve_jointset_elbow_r_elbow_flex_r
initial: /forceset/reserve_jointset_radioulnar_r_pro_sup_r, final: /forceset/reserve_jointset_radioulnar_r_pro_sup_r
initial: /forceset/reserve_jointset_acromial_l_arm_flex_l, final: /forceset/reserve_jointset_acromial_l_arm_flex_l
initial: /forceset/reserve_jointset_acromial_l_arm_add_l, final: /forceset/reserve_jointset_acromial_l_arm_add_l
initial: /forceset/reserve_jointset_acromial_l_arm_rot_l, final: /forceset/reserve_jointset_acromial_l_arm_rot_l
initial: /forceset/reserve_jointset_elbow_l_elbow_flex_l, final: /forceset/reserve_jointset_elbow_l_elbow_flex_l
initial: /forceset/reserve_jointset_radioulnar_l_pro_sup_l, final: /forceset/reserve_jointset_radioulnar_l_pro_sup_l
Kinematic constraints: (total: 2)
kinematic_constraint_cid31. MocoConstraintInfo. number of scalar equations: 3. bounds: 0, 0, 0
kinematic_constraint_cid32. MocoConstraintInfo. number of scalar equations: 3. bounds: 0, 0, 0
Path constraints: none
States: (total: 62)
/jointset/elbow_r/elbow_flex_r/value. bounds: [0.464956, 0.71639]
/jointset/ankle_l/ankle_angle_l/value. bounds: [-0.306115, 0.451045]
/jointset/ground_pelvis/pelvis_ty/value. bounds: [1.11955, 1.18149]
/jointset/ground_pelvis/pelvis_tilt/value. bounds: [0.092006, 0.209357]
/jointset/radioulnar_l/pro_sup_l/speed. bounds: [-1.10741, 1.03605]
/jointset/ground_pelvis/pelvis_tx/value. bounds: [-0.118882, 1.59347]
/jointset/ground_pelvis/pelvis_list/value. bounds: [-0.0805271, 0.00846509]
/jointset/radioulnar_r/pro_sup_r/value. bounds: [1.01911, 1.37975]
/jointset/walker_knee_r/knee_angle_r/value. bounds: [-0.10704, 1.20856]
/jointset/ground_pelvis/pelvis_rotation/value. bounds: [-0.0378854, 0.0892274]
/jointset/hip_l/hip_rotation_l/value. bounds: [-0.0784135, 0.0698596]
/jointset/ground_pelvis/pelvis_tz/value. bounds: [-0.226631, -0.192007]
/jointset/hip_r/hip_adduction_r/speed. bounds: [-0.721713, 0.643402]
/jointset/ankle_r/ankle_angle_r/value. bounds: [-0.326511, 0.295517]
/jointset/hip_r/hip_flexion_r/value. bounds: [-0.529838, 0.420977]
/jointset/acromial_r/arm_flex_r/speed. bounds: [-1.24287, 1.24431]
/jointset/hip_r/hip_adduction_r/value. bounds: [0.0156354, 0.152637]
/jointset/back/lumbar_rotation/speed. bounds: [-0.507833, 0.332529]
/jointset/hip_r/hip_rotation_r/value. bounds: [-0.112406, 0.139114]
/jointset/patellofemoral_r/knee_angle_r_beta/value. bounds: [-0.10704, 1.20856]
/jointset/back/lumbar_extension/speed. bounds: [-0.877735, 0.943441]
/jointset/hip_l/hip_flexion_l/value. bounds: [-0.498266, 0.420109]
/jointset/hip_l/hip_adduction_l/value. bounds: [-0.119125, 0.0903451]
/jointset/patellofemoral_l/knee_angle_l_beta/value. bounds: [-0.112397, 1.30559]
/jointset/walker_knee_l/knee_angle_l/value. bounds: [-0.112397, 1.30559]
/jointset/back/lumbar_extension/value. bounds: [-0.422765, -0.277762]
/jointset/hip_l/hip_flexion_l/speed. bounds: [-2.21982, 4.17921]
/jointset/acromial_l/arm_rot_l/value. bounds: [-0.254088, 0.0387493]
/jointset/back/lumbar_bending/value. bounds: [-0.0182619, 0.175578]
/jointset/radioulnar_r/pro_sup_r/speed. bounds: [-1.40283, 1.50569]
/jointset/walker_knee_r/knee_angle_r/speed. bounds: [-6.04487, 7.05972]
/jointset/ground_pelvis/pelvis_rotation/speed. bounds: [-0.608971, 0.698332]
/jointset/back/lumbar_rotation/value. bounds: [-0.127879, 0.00695324]
/jointset/acromial_r/arm_flex_r/value. bounds: [-0.19792, 0.0645823]
/jointset/acromial_l/arm_flex_l/value. bounds: [-0.148341, 0.01429]
/jointset/acromial_r/arm_add_r/value. bounds: [-0.225864, -0.155167]
/jointset/elbow_l/elbow_flex_l/speed. bounds: [-1.09022, 1.1126]
/jointset/acromial_l/arm_add_l/speed. bounds: [-0.39668, 0.418597]
/jointset/acromial_r/arm_rot_r/value. bounds: [-0.13045, 0.0913855]
/jointset/elbow_l/elbow_flex_l/value. bounds: [0.440103, 0.668468]
/jointset/acromial_l/arm_add_l/value. bounds: [-0.242784, -0.144686]
/jointset/radioulnar_l/pro_sup_l/value. bounds: [1.12366, 1.31522]
/jointset/ground_pelvis/pelvis_tilt/speed. bounds: [-0.824047, 0.742108]
/jointset/ground_pelvis/pelvis_list/speed. bounds: [-0.561121, 0.401743]
/jointset/ground_pelvis/pelvis_tx/speed. bounds: [0.706459, 1.50205]
/jointset/elbow_r/elbow_flex_r/speed. bounds: [-1.87524, 2.36461]
/jointset/ankle_l/ankle_angle_l/speed. bounds: [-5.29542, 3.36384]
/jointset/ground_pelvis/pelvis_ty/speed. bounds: [-0.27702, 0.392014]
/jointset/hip_l/hip_rotation_l/speed. bounds: [-0.854917, 1.26085]
/jointset/ground_pelvis/pelvis_tz/speed. bounds: [-0.173938, 0.200676]
/jointset/ankle_r/ankle_angle_r/speed. bounds: [-4.68474, 2.83541]
/jointset/hip_r/hip_flexion_r/speed. bounds: [-2.74046, 3.81117]
/jointset/hip_r/hip_rotation_r/speed. bounds: [-0.726281, 0.938878]
/jointset/patellofemoral_r/knee_angle_r_beta/speed. bounds: [-6.04487, 7.05972]
/jointset/hip_l/hip_adduction_l/speed. bounds: [-0.903177, 0.872155]
/jointset/patellofemoral_l/knee_angle_l_beta/speed. bounds: [-6.71555, 7.40838]
/jointset/walker_knee_l/knee_angle_l/speed. bounds: [-6.71555, 7.40838]
/jointset/acromial_l/arm_rot_l/speed. bounds: [-0.977273, 0.962702]
/jointset/back/lumbar_bending/speed. bounds: [-0.71354, 0.639823]
/jointset/acromial_l/arm_flex_l/speed. bounds: [-0.622638, 0.718523]
/jointset/acromial_r/arm_add_r/speed. bounds: [-0.388541, 0.321832]
/jointset/acromial_r/arm_rot_r/speed. bounds: [-1.58841, 1.29845]
Controls: (total: 29)
/forceset/reserve_jointset_ground_pelvis_pelvis_ty. bounds: [-inf, inf]
/forceset/reserve_jointset_hip_r_hip_flexion_r. bounds: [-inf, inf]
/forceset/reserve_jointset_acromial_l_arm_rot_l. bounds: [-inf, inf]
/forceset/reserve_jointset_ground_pelvis_pelvis_tilt. bounds: [-inf, inf]
/forceset/reserve_jointset_radioulnar_l_pro_sup_l. bounds: [-inf, inf]
/forceset/reserve_jointset_ground_pelvis_pelvis_tx. bounds: [-inf, inf]
/forceset/reserve_jointset_ground_pelvis_pelvis_list. bounds: [-inf, inf]
/forceset/reserve_jointset_ground_pelvis_pelvis_tz. bounds: [-inf, inf]
/forceset/reserve_jointset_ground_pelvis_pelvis_rotation. bounds: [-inf, inf]
/forceset/reserve_jointset_acromial_r_arm_add_r. bounds: [-inf, inf]
/forceset/reserve_jointset_hip_r_hip_adduction_r. bounds: [-inf, inf]
/forceset/reserve_jointset_hip_r_hip_rotation_r. bounds: [-inf, inf]
/forceset/reserve_jointset_walker_knee_r_knee_angle_r. bounds: [-inf, inf]
/forceset/reserve_jointset_ankle_r_ankle_angle_r. bounds: [-inf, inf]
/forceset/reserve_jointset_hip_l_hip_flexion_l. bounds: [-inf, inf]
/forceset/reserve_jointset_hip_l_hip_adduction_l. bounds: [-inf, inf]
/forceset/reserve_jointset_walker_knee_l_knee_angle_l. bounds: [-inf, inf]
/forceset/reserve_jointset_hip_l_hip_rotation_l. bounds: [-inf, inf]
/forceset/reserve_jointset_ankle_l_ankle_angle_l. bounds: [-inf, inf]
/forceset/reserve_jointset_back_lumbar_extension. bounds: [-inf, inf]
/forceset/reserve_jointset_back_lumbar_bending. bounds: [-inf, inf]
/forceset/reserve_jointset_back_lumbar_rotation. bounds: [-inf, inf]
/forceset/reserve_jointset_acromial_r_arm_flex_r. bounds: [-inf, inf]
/forceset/reserve_jointset_acromial_r_arm_rot_r. bounds: [-inf, inf]
/forceset/reserve_jointset_elbow_r_elbow_flex_r. bounds: [-inf, inf]
/forceset/reserve_jointset_radioulnar_r_pro_sup_r. bounds: [-inf, inf]
/forceset/reserve_jointset_acromial_l_arm_flex_l. bounds: [-inf, inf]
/forceset/reserve_jointset_acromial_l_arm_add_l. bounds: [-inf, inf]
/forceset/reserve_jointset_elbow_l_elbow_flex_l. bounds: [-inf, inf]
Parameters: none
[info] Number of threads: 12
List of user-set options:
Name Value used
acceptable_compl_inf_tol = 0.01 yes
acceptable_constr_viol_tol = 0.01 yes
acceptable_dual_inf_tol = 0.01 yes
acceptable_tol = 0.01 yes
compl_inf_tol = 0.01 yes
constr_viol_tol = 0.01 yes
dual_inf_tol = 0.01 yes
hessian_approximation = limited-memory yes
print_user_options = yes yes
tol = 0.01 yes
This is Ipopt version 3.12.8, running with linear solver mumps.
NOTE: Other linear solvers might be more efficient (see Ipopt documentation).
Number of nonzeros in equality constraint Jacobian...: 503210
Number of nonzeros in inequality constraint Jacobian.: 0
Number of nonzeros in Lagrangian Hessian.............: 0
CasADi - 2023-11-02 17:47:58 WARNING("nlp:nlp_jac_g failed: NaN detected for output jac_g_x, at nonzero index 94 (row 94, col 0).") [D:\dev\tools\anaconda3\conda-bld\opensim-moco_1689351229736\work\dependencies\casadi\casadi\core\oracle_function.cpp:265]
Error evaluating Jacobian of equality constraints at user provided starting point.
No scaling factors for equality constraints computed!
CasADi - 2023-11-02 17:47:59 WARNING("nlp:nlp_jac_g failed: NaN detected for output jac_g_x, at nonzero index 94 (row 94, col 0).") [D:\dev\tools\anaconda3\conda-bld\opensim-moco_1689351229736\work\dependencies\casadi\casadi\core\oracle_function.cpp:265]
Number of Iterations....: 0
Number of objective function evaluations = 0
Number of objective gradient evaluations = 0
Number of equality constraint evaluations = 0
Number of inequality constraint evaluations = 0
Number of equality constraint Jacobian evaluations = 1
Number of inequality constraint Jacobian evaluations = 0
Number of Lagrangian Hessian evaluations = 0
Total CPU secs in IPOPT (w/o function evaluations) = 1.237
Total CPU secs in NLP function evaluations = 0.997
EXIT: Invalid number in NLP function or derivative detected.
nlp : t_proc (avg) t_wall (avg) n_eval
nlp_grad_f | 381.00ms (381.00ms) 380.73ms (380.73ms) 1
nlp_jac_g | 1.85 s (923.50ms) 1.85 s (923.59ms) 2
total | 2.24 s ( 2.24 s) 2.24 s ( 2.24 s) 1
Breakdown of objective (including weights):
state_tracking: 693.475
control_effort: 0
Active or violated continuous variable bounds
L and U indicate which bound is active; '*' indicates a bound is violated.
The case of lower==upper==value is ignored.
State bounds: no bounds active or violated
Control bounds: no bounds active or violated
Multiplier bounds: no bounds active or violated
Derivative bounds: no bounds active or violated
Active or violated parameter bounds
L and U indicate which bound is active; '*' indicates a bound is violated.
The case of lower==upper==value is ignored.
Time bounds: no bounds active or violated
Parameter bounds: no bounds active or violated
Total number of constraints: 4548.
Differential equation defects:
L2 norm across mesh, max abs value (L1 norm), time of max abs
/jointset/ground_pelvis/pelvis_tilt/value 2.56e-02 1.05e-02 0.587500
/jointset/ground_pelvis/pelvis_list/value 1.73e-02 5.44e-03 0.710714
/jointset/ground_pelvis/pelvis_rotation/value 1.36e-02 7.58e-03 0.562857
/jointset/ground_pelvis/pelvis_tx/value 2.10e-02 5.01e-03 0.390357
/jointset/ground_pelvis/pelvis_ty/value 1.08e-02 4.22e-03 0.587500
/jointset/ground_pelvis/pelvis_tz/value 6.13e-03 3.36e-03 0.612143
/jointset/hip_r/hip_flexion_r/value 6.04e-02 2.86e-02 0.193214
/jointset/hip_r/hip_adduction_r/value 2.16e-02 9.91e-03 0.070000
/jointset/hip_r/hip_rotation_r/value 2.72e-02 1.35e-02 0.488929
/jointset/hip_l/hip_flexion_l/value 5.53e-02 2.10e-02 0.562857
/jointset/hip_l/hip_adduction_l/value 2.11e-02 8.08e-03 0.217857
/jointset/hip_l/hip_rotation_l/value 3.84e-02 1.40e-02 0.119286
/jointset/back/lumbar_extension/value 3.48e-02 1.21e-02 0.562857
/jointset/back/lumbar_bending/value 2.21e-02 9.36e-03 0.094643
/jointset/back/lumbar_rotation/value 1.69e-02 8.56e-03 0.094643
/jointset/walker_knee_r/knee_angle_r/value 1.55e-01 4.89e-02 0.439643
/jointset/patellofemoral_r/knee_angle_r_beta/value 1.55e-01 4.89e-02 0.439643
/jointset/walker_knee_l/knee_angle_l/value 1.55e-01 5.18e-02 0.587500
/jointset/patellofemoral_l/knee_angle_l_beta/value 1.55e-01 5.18e-02 0.587500
/jointset/acromial_r/arm_flex_r/value 3.67e-02 1.88e-02 0.686071
/jointset/acromial_r/arm_add_r/value 1.52e-02 6.00e-03 0.710714
/jointset/acromial_r/arm_rot_r/value 4.37e-02 2.05e-02 0.439643
/jointset/acromial_l/arm_flex_l/value 2.31e-02 1.63e-02 0.686071
/jointset/acromial_l/arm_add_l/value 1.05e-02 4.77e-03 0.439643
/jointset/acromial_l/arm_rot_l/value 2.28e-02 1.26e-02 0.143929
/jointset/ankle_r/ankle_angle_r/value 6.54e-02 2.47e-02 0.365714
/jointset/ankle_l/ankle_angle_l/value 1.65e-01 9.33e-02 0.217857
/jointset/elbow_r/elbow_flex_r/value 5.91e-02 2.87e-02 0.464286
/jointset/elbow_l/elbow_flex_l/value 3.95e-02 2.63e-02 0.217857
/jointset/radioulnar_r/pro_sup_r/value 3.90e-02 1.19e-02 0.168571
/jointset/radioulnar_l/pro_sup_l/value 2.35e-02 8.12e-03 0.513571
/jointset/ground_pelvis/pelvis_tilt/speed -nan(ind) -nan(ind) 0.070000
/jointset/ground_pelvis/pelvis_list/speed -nan(ind) -nan(ind) 0.070000
/jointset/ground_pelvis/pelvis_rotation/speed -nan(ind) -nan(ind) 0.070000
/jointset/ground_pelvis/pelvis_tx/speed -nan(ind) -nan(ind) 0.070000
/jointset/ground_pelvis/pelvis_ty/speed -nan(ind) -nan(ind) 0.070000
/jointset/ground_pelvis/pelvis_tz/speed -nan(ind) -nan(ind) 0.070000
/jointset/hip_r/hip_flexion_r/speed -nan(ind) -nan(ind) 0.070000
/jointset/hip_r/hip_adduction_r/speed -nan(ind) -nan(ind) 0.070000
/jointset/hip_r/hip_rotation_r/speed -nan(ind) -nan(ind) 0.070000
/jointset/hip_l/hip_flexion_l/speed -nan(ind) -nan(ind) 0.070000
/jointset/hip_l/hip_adduction_l/speed -nan(ind) -nan(ind) 0.070000
/jointset/hip_l/hip_rotation_l/speed -nan(ind) -nan(ind) 0.070000
/jointset/back/lumbar_extension/speed -nan(ind) -nan(ind) 0.070000
/jointset/back/lumbar_bending/speed -nan(ind) -nan(ind) 0.070000
/jointset/back/lumbar_rotation/speed -nan(ind) -nan(ind) 0.070000
/jointset/walker_knee_r/knee_angle_r/speed -nan(ind) -nan(ind) 0.070000
/jointset/patellofemoral_r/knee_angle_r_beta/speed -nan(ind) -nan(ind) 0.070000
/jointset/walker_knee_l/knee_angle_l/speed -nan(ind) -nan(ind) 0.070000
/jointset/patellofemoral_l/knee_angle_l_beta/speed -nan(ind) -nan(ind) 0.070000
/jointset/acromial_r/arm_flex_r/speed -nan(ind) -nan(ind) 0.070000
/jointset/acromial_r/arm_add_r/speed -nan(ind) -nan(ind) 0.070000
/jointset/acromial_r/arm_rot_r/speed -nan(ind) -nan(ind) 0.070000
/jointset/acromial_l/arm_flex_l/speed -nan(ind) -nan(ind) 0.070000
/jointset/acromial_l/arm_add_l/speed -nan(ind) -nan(ind) 0.070000
/jointset/acromial_l/arm_rot_l/speed -nan(ind) -nan(ind) 0.070000
/jointset/ankle_r/ankle_angle_r/speed -nan(ind) -nan(ind) 0.070000
/jointset/ankle_l/ankle_angle_l/speed -nan(ind) -nan(ind) 0.070000
/jointset/elbow_r/elbow_flex_r/speed -nan(ind) -nan(ind) 0.070000
/jointset/elbow_l/elbow_flex_l/speed -nan(ind) -nan(ind) 0.070000
/jointset/radioulnar_r/pro_sup_r/speed -nan(ind) -nan(ind) 0.070000
/jointset/radioulnar_l/pro_sup_l/speed -nan(ind) -nan(ind) 0.070000
Kinematic constraints:
L2 norm across mesh, max abs value (L1 norm), time of max abs
00: cid31_p0 3.51e-08 2.40e-08 0.070000
01: cid32_p0 3.03e-08 2.75e-09 0.587500
02: cid31_p0d 2.18e-07 1.20e-07 0.070000
03: cid32_p0d 2.39e-07 8.89e-08 0.587500
04:cid31_p0dd -nan(ind) -nan(ind) 0.070000
05:cid32_p0dd -nan(ind) -nan(ind) 0.070000
Kinematic constraint values at each mesh point:
time 0 1 2 3 4 5
000 0.070000 2.40e-08 -2.95e-08 1.20e-07 -1.84e-07 -nan(ind) -nan(ind)
001 9.46e-02 6.30e-09 1.62e-09 -8.66e-09 1.30e-08 -nan(ind) -nan(ind)
002 1.19e-01 1.07e-08 -1.24e-09 -1.73e-08 3.15e-08 -nan(ind) -nan(ind)
003 1.44e-01 8.08e-09 -5.86e-10 -9.64e-09 9.13e-10 -nan(ind) -nan(ind)
004 1.69e-01 8.48e-09 -6.15e-10 1.98e-08 -2.78e-08 -nan(ind) -nan(ind)
005 1.93e-01 8.39e-09 -2.01e-10 1.37e-09 2.90e-08 -nan(ind) -nan(ind)
006 2.18e-01 9.75e-09 -2.01e-10 1.60e-10 -3.38e-08 -nan(ind) -nan(ind)
007 2.42e-01 4.86e-09 -3.93e-10 -1.23e-07 4.47e-08 -nan(ind) -nan(ind)
008 2.67e-01 -6.53e-10 6.18e-10 3.28e-11 -3.05e-08 -nan(ind) -nan(ind)
009 2.92e-01 6.97e-10 -1.39e-09 4.91e-09 2.72e-08 -nan(ind) -nan(ind)
010 3.16e-01 5.29e-10 1.85e-10 1.97e-08 -2.63e-08 -nan(ind) -nan(ind)
011 3.41e-01 1.04e-09 6.37e-11 -9.71e-09 5.57e-09 -nan(ind) -nan(ind)
012 3.66e-01 -1.29e-09 2.46e-11 -1.71e-08 2.14e-08 -nan(ind) -nan(ind)
013 3.90e-01 1.25e-09 1.03e-09 2.53e-08 -2.83e-08 -nan(ind) -nan(ind)
014 4.15e-01 -8.02e-10 -8.87e-10 6.26e-09 5.42e-09 -nan(ind) -nan(ind)
015 4.40e-01 1.29e-10 2.85e-10 2.41e-08 5.49e-09 -nan(ind) -nan(ind)
016 4.64e-01 -1.57e-09 2.25e-10 -2.37e-08 -5.33e-09 -nan(ind) -nan(ind)
017 4.89e-01 -9.72e-10 -1.16e-10 2.01e-08 2.25e-08 -nan(ind) -nan(ind)
018 5.14e-01 9.43e-10 -5.39e-10 7.96e-09 -1.85e-08 -nan(ind) -nan(ind)
019 5.38e-01 1.45e-09 1.63e-09 3.05e-10 9.33e-09 -nan(ind) -nan(ind)
020 5.63e-01 4.50e-10 7.93e-10 1.24e-08 -3.47e-08 -nan(ind) -nan(ind)
021 5.87e-01 -3.05e-09 2.75e-09 -1.04e-07 8.89e-08 -nan(ind) -nan(ind)
022 6.12e-01 -5.98e-09 -1.96e-09 8.63e-09 -3.10e-08 -nan(ind) -nan(ind)
023 6.37e-01 -7.03e-09 -1.96e-09 5.04e-10 1.30e-08 -nan(ind) -nan(ind)
024 6.61e-01 -6.48e-09 -1.96e-09 7.86e-09 -2.29e-08 -nan(ind) -nan(ind)
025 6.86e-01 -4.51e-09 -1.96e-09 1.93e-08 1.97e-08 -nan(ind) -nan(ind)
026 7.11e-01 1.27e-09 -1.96e-09 -2.87e-08 -5.49e-09 -nan(ind) -nan(ind)
027 7.35e-01 1.27e-09 -1.96e-09 3.24e-08 2.30e-09 -nan(ind) -nan(ind)
028 7.60e-01 1.27e-09 -1.96e-09 -2.18e-08 3.81e-08 -nan(ind) -nan(ind)
Path constraints: none
[info] Set log level to Info.
[info] ------------------------------------------------------------------------
[info] Elapsed real time: 6 second(s).
[info] Thu Nov 2 17:47:59 2023
[warning] MocoCasADiSolver did NOT succeed:
[warning] Invalid_Number_Detected
[info] ========================================================================
There is probably something that I am doing wrong, but I can't put my finger on it.
I did replace my locked joints with Welds. Maybe my actuator bounds are not valid? Or something else?
Thank you in advance for your help!
P.S.: Subsidiary question:
How are mesh points split (see "Kinematic constraint values at each mesh point")? I track joint motion for 1.45-0.07=1.38s, with a meshInderval of 0.05. This leads to about 28 mesh points, which looks correct.
But then the points are separated by 0.025, and the time only goes up to 0.76 instead of 1.45