some transient sink during static optimization
Posted: Tue Sep 03, 2019 6:49 am
Hi,there.I was head-scratch in this question for months.
The situation is probably like this, based on ToyDroplanding Model I built a model. I adjusted the initial strange posture of the initial model to a sitting position, then add the chair model into it, and added the contact ball and contact force between the chair and the person.(as the following pictures)
Finishing buliding the model, I creat a rough motion file by myself to test. the motion is lifting the legs when siting.(as the following pictures)
the motion file is as shown
As I click the simulate button,the model will not pass through, It seems the model is motionless.However, when static optimization is runing,the model change it's post.Also, I remembered save the sitting as the default poses.
So, my question is why the model change it post as the beginning of Static Optimization, and what should I check for my work?
Thank you if anyone can help or suggest.
The situation is probably like this, based on ToyDroplanding Model I built a model. I adjusted the initial strange posture of the initial model to a sitting position, then add the chair model into it, and added the contact ball and contact force between the chair and the person.(as the following pictures)
Finishing buliding the model, I creat a rough motion file by myself to test. the motion is lifting the legs when siting.(as the following pictures)
the motion file is as shown
Code: Select all
lifting slow
version=1
nRows=121
nColumns=3
inDegrees=yes
"Units are S.I. units (second, meters, Newtons, ...)"
Angles are in degrees.
endheader
time hip_flexion_r knee_angle_r
0 90 -90
0.05 90 -90
0.1 90 -90
0.15 90 -90
0.2 90 -90
0.25 90 -90
0.3 90 -90
0.35 90 -90
0.4 90 -90
0.45 90 -90
0.5 90 -90
0.55 90 -90
0.6 90 -90
0.65 90 -90
0.7 90 -90
0.75 90 -90
0.8 90 -90
0.85 90 -90
0.9 90 -90
0.95 90 -90
1 90 -90
1.05 90.25 -90.25
1.1 90.5 -90.5
1.15 90.75 -90.75
1.2 91 -91
1.25 91.25 -91.25
1.3 91.5 -91.5
1.35 91.75 -91.75
1.4 92 -92
1.45 92.25 -92.25
1.5 92.5 -92.5
1.55 92.75 -92.75
1.6 93 -93
1.65 93.25 -93.25
1.7 93.5 -93.5
1.75 93.75 -93.75
1.8 94 -94
1.85 94.25 -94.25
1.9 94.5 -94.5
1.95 94.75 -94.75
2 95 -95
2.05 95.25 -95.25
2.1 95.5 -95.5
2.15 95.75 -95.75
2.2 96 -96
2.25 96.25 -96.25
2.3 96.5 -96.5
2.35 96.75 -96.75
2.4 97 -97
2.45 97.25 -97.25
2.5 97.5 -97.5
2.55 97.75 -97.75
2.6 98 -98
2.65 98.25 -98.25
2.7 98.5 -98.5
2.75 98.75 -98.75
2.8 99 -99
2.85 99.25 -99.25
2.9 99.5 -99.5
2.95 99.75 -99.75
3 100 -100
3.05 100.25 -100.25
3.1 100.5 -100.5
3.15 100.75 -100.75
3.2 101 -101
3.25 101.25 -101.25
3.3 101.5 -101.5
3.35 101.75 -101.75
3.4 102 -102
3.45 102.25 -102.25
3.5 102.5 -102.5
3.55 102.75 -102.75
3.6 103 -103
3.65 103.25 -103.25
3.7 103.5 -103.5
3.75 103.75 -103.75
3.8 104 -104
3.85 104.25 -104.25
3.9 104.5 -104.5
3.95 104.75 -104.75
4 105 -105
4.05 105.25 -105.25
4.1 105.5 -105.5
4.15 105.75 -105.75
4.2 106 -106
4.25 106.25 -106.25
4.3 106.5 -106.5
4.35 106.75 -106.75
4.4 107 -107
4.45 107.25 -107.25
4.5 107.5 -107.5
4.55 107.75 -107.75
4.6 108 -108
4.65 108.25 -108.25
4.7 108.5 -108.5
4.75 108.75 -108.75
4.8 109 -109
4.85 109.25 -109.25
4.9 109.5 -109.5
4.95 109.75 -109.75
5 110 -110
5.05 110.25 -110.25
5.1 110.5 -110.5
5.15 110.75 -110.75
5.2 111 -111
5.25 111.25 -111.25
5.3 111.5 -111.5
5.35 111.75 -111.75
5.4 112 -112
5.45 112.25 -112.25
5.5 112.5 -112.5
5.55 112.75 -112.75
5.6 113 -113
5.65 113.25 -113.25
5.7 113.5 -113.5
5.75 113.75 -113.75
5.8 114 -114
5.85 114.25 -114.25
5.9 114.5 -114.5
5.95 114.75 -114.75
6 115 -115
So, my question is why the model change it post as the beginning of Static Optimization, and what should I check for my work?
Thank you if anyone can help or suggest.