RRA failure

[Nate Bates]

I have a set of jumping files which I have successfully run through the scaling, IK, and ID tools of OpenSim. However, when I attempt to run the RRA tool, the simulation stops at the first time point. I have pasted the output dialogue from the message box below. Also, I have already upgraded to the cfsqp optimizer. Any suggestions as to how I can make the RRA tool run to completion would be appreciated. Thank you.

-Nate


-------------------------------------------------------
This program includes software developed by the
Apache Software Foundation (http://www.apache.org/).
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Constructing investigation from setup file box1_Setup_ReduceResiduals.xml.

AbstractTool box1_box1_RRA loading model 'box1_SCALED.osim'
Loaded model box1 from file box1_SCALED.osim
Adding force object set from gait2392_RRA_Actuators.xml
-----------------------------------------------------------------------
Loaded library
-----------------------------------------------------------------------
MODEL: box1
forces: 23
analyses: 0
bodies: 13
joints: 12
markers: 29
-----------------------------------------------------------------------

Running tool box1_box1_RRA.
Old version storage/motion file encountered
Storage: file=C:\Users\Nathaniel A. Bates\Documents\OpenSim\Automation\PipelineAttempt1\box1_grf.mot (nr=656 nc=19)
.. assuming rotations in Degrees.
Storage: file=C:\Users\Nathaniel A. Bates\Documents\OpenSim\Automation\PipelineAttempt1\box1_ik.mot (nr=131 nc=24)


Low-pass filtering coordinates data with a cutoff frequency of 12.


taskSet size = 23



WARN- a desired points file was not specified.



Loading desired kinematics from file box1_ik_grf.mot ...

Loading q's from file box1_ik_grf.mot.
Old version storage/motion file encountered
Storage: file=box1_ik_grf.mot (nr=131 nc=42)
.. assuming rotations in Degrees.
Found 131 q's with time stamps ranging
from 0 to 0.541667.


WARN- The final time set for the cmc run is past the last time stamp
in the desired kinematics file box1_ik_grf.mot.
Resetting the final time from 0.545833 to 0.541667.



Note- not filtering the desired kinematics.

MODEL: box1

ANALYSES (0)

BODIES (13)
body[0] = ground (mass: 0) (inertia: 0 0 0 0 0 0 0 0 0)
body[1] = pelvis (mass: 11.7512) (inertia: 0.102575 0 0 0 0.0869093 0 0 0 0.0577732)
body[2] = femur_r (mass: 9.28103) (inertia: 0.133607 0 0 0 0.0350231 0 0 0 0.140891)
body[3] = tibia_r (mass: 3.69938) (inertia: 0.0502896 0 0 0 0.00508883 0 0 0 0.0509881)
body[4] = talus_r (mass: 0.099781) (inertia: 0.00099781 0 0 0 0.00099781 0 0 0 0.00099781)
body[5] = calcn_r (mass: 1.24726) (inertia: 0.00139693 0 0 0 0.00389146 0 0 0 0.00409102)
body[6] = toes_r (mass: 0.216126) (inertia: 9.978e-005 0 0 0 0.00019956 0 0 0 0.00099781)
body[7] = femur_l (mass: 9.28103) (inertia: 0.133607 0 0 0 0.0350231 0 0 0 0.140891)
body[8] = tibia_l (mass: 3.69938) (inertia: 0.0502896 0 0 0 0.00508883 0 0 0 0.0509881)
body[9] = talus_l (mass: 0.099781) (inertia: 0.00099781 0 0 0 0.00099781 0 0 0 0.00099781)
body[10] = calcn_l (mass: 1.24726) (inertia: 0.00139693 0 0 0 0.00389146 0 0 0 0.00409102)
body[11] = toes_l (mass: 0.216126) (inertia: 9.978e-005 0 0 0 0.00019956 0 0 0 0.00099781)
body[12] = torso (mass: 34.1616) (inertia: 1.47127 0 0 0 0.753846 0 0 0 1.42827)

ACTUATORS (23)
actuator[0] = FX
actuator[1] = FY
actuator[2] = FZ
actuator[3] = MX
actuator[4] = MY
actuator[5] = MZ
actuator[6] = hip_flexion_r
actuator[7] = hip_adduction_r
actuator[8] = hip_rotation_r
actuator[9] = knee_angle_r
actuator[10] = ankle_angle_r
actuator[11] = subtalar_angle_r
actuator[12] = mtp_angle_r
actuator[13] = hip_flexion_l
actuator[14] = hip_adduction_l
actuator[15] = hip_rotation_l
actuator[16] = knee_angle_l
actuator[17] = ankle_angle_l
actuator[18] = subtalar_angle_l
actuator[19] = mtp_angle_l
actuator[20] = lumbar_extension
actuator[21] = lumbar_bending
actuator[22] = lumbar_rotation
numStates = 46
numCoordinates = 23
numSpeeds = 23
numActuators = 23
numBodies = 13
numConstraints = 0

STATES (46)
y[0] = pelvis_tilt
y[1] = pelvis_list
y[2] = pelvis_rotation
y[3] = pelvis_tx
y[4] = pelvis_ty
y[5] = pelvis_tz
y[6] = hip_flexion_r
y[7] = hip_adduction_r
y[8] = hip_rotation_r
y[9] = knee_angle_r
y[10] = ankle_angle_r
y[11] = subtalar_angle_r
y[12] = mtp_angle_r
y[13] = hip_flexion_l
y[14] = hip_adduction_l
y[15] = hip_rotation_l
y[16] = knee_angle_l
y[17] = ankle_angle_l
y[18] = subtalar_angle_l
y[19] = mtp_angle_l
y[20] = lumbar_extension
y[21] = lumbar_bending
y[22] = lumbar_rotation
y[23] = pelvis_tilt_u
y[24] = pelvis_list_u
y[25] = pelvis_rotation_u
y[26] = pelvis_tx_u
y[27] = pelvis_ty_u
y[28] = pelvis_tz_u
y[29] = hip_flexion_r_u
y[30] = hip_adduction_r_u
y[31] = hip_rotation_r_u
y[32] = knee_angle_r_u
y[33] = ankle_angle_r_u
y[34] = subtalar_angle_r_u
y[35] = mtp_angle_r_u
y[36] = hip_flexion_l_u
y[37] = hip_adduction_l_u
y[38] = hip_rotation_l_u
y[39] = knee_angle_l_u
y[40] = ankle_angle_l_u
y[41] = subtalar_angle_l_u
y[42] = mtp_angle_l_u
y[43] = lumbar_extension_u
y[44] = lumbar_bending_u
y[45] = lumbar_rotation_u

Note: requested COM adjustment time range 0 - 0.541667 clamped to nearest available data times 0 - 0.541667

Computing average residuals between 0 and 0.541667
Average residuals before adjusting torso COM:
FX=21.7578 FY=205.514 FZ=14.0792
MX=11.8418 MY=-3.0919 MZ=-40.3383

RRATool.adjustCOMToReduceResiduals:
torso weight = 335.011
dx=-0.1, dz=-0.0353476

dmass = -20.9566

Recommended mass adjustments:
ground: orig mass = 0, new mass = 0
pelvis: orig mass = 11.7512, new mass = 8.46768
femur_r: orig mass = 9.28103, new mass = 6.68772
tibia_r: orig mass = 3.69938, new mass = 2.6657
talus_r: orig mass = 0.099781, new mass = 0.0719001
calcn_r: orig mass = 1.24726, new mass = 0.898751
toes_r: orig mass = 0.216126, new mass = 0.155736
femur_l: orig mass = 9.28103, new mass = 6.68772
tibia_l: orig mass = 3.69938, new mass = 2.6657
talus_l: orig mass = 0.099781, new mass = 0.0719001
calcn_l: orig mass = 1.24726, new mass = 0.898751
toes_l: orig mass = 0.216126, new mass = 0.155736
torso: orig mass = 34.1616, new mass = 24.6162

Computing average residuals between 0 and 0.541667
Average residuals after adjusting torso COM:
FX=20.7967 FY=220.661 FZ=28.1974
MX=-2.58965 MY=-7.5112 MZ=25.6524


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
Fatal Error: Function is not (fully) implemented (function = OpenSim::RRATool::constructRRAControlSet, file = ..\..\..\Trunk\OpenSim\Tools\RRATool.cpp, line = 1277)

This application has requested the Runtime to terminate it in an unusual way.
Please contact the application's support team for more information.

[Ayman Habib]

Hi Nate,

Looking into the code, it appears that this exception is thrown while handling control constraints in RRA (which is not supported). I'm not sure if this was an old setup file that was ported by us or if it was hand written but please remove the control constraints file from the setup and retry.

If you have a reason for having constraints in RRA, please explain.

Best regards and please let us know if you continue to have questions.
-Ayman

[Nate Bates]

Thank you Ayman. I was unaware that control constraints were unnecessary / unsupported for RRA. I removed the call to that file from my setup. However, the process still failed in the same manner even without the control constraints file. When this was the case, I tried performing RRA with my current kinematics on a model I have previously used and RRA ran to completion. Currently, I am looking for differences in my model files.

-Nate

[Nate Bates]

Ayman,

I corrected the differences between my current and previous models that I mentioned in the last model. However, the RRA stage of OpenSim continues to fail (with the same message). I have attached the files I am using in the ZIP folder below. If you could take a look at these and let me know if you identify any problems with them, I would appreciate it.

-Nate

[Roberta Furone]

hy I have the same problem... did you solve it?