Inverse Kinematic Problem

[Benedetta Baldini]

We are solving an Inverse Kinematic problem, we run the IK tool, in the messages we obtain 'InverseKinematicsTool completed 28 frames in 95.833s', but we also obtain an Unexpected Exception: 'Index: 52, Size:44'; if we press 'show and report problems' we obtain

'A java.lang.IndexOutOfBoundsException exception has occurred.
Click Show Details or see the messages.log file located in your C:\Users\BENGIU\AppData\Roaming\.OpenSim\4.0\var\log folder.',

and if we press 'show Details' we obtain this:

'java.lang.IndexOutOfBoundsException: Index: 52, Size: 44
at java.util.ArrayList.rangeCheck(ArrayList.java:657)
at java.util.ArrayList.get(ArrayList.java:433)
at org.opensim.threejs.ModelVisualizationJson.updatePathWithWrapping(ModelVisualizationJson.java:1455)
at org.opensim.threejs.ModelVisualizationJson.appendToFrame(ModelVisualizationJson.java:781)
at org.opensim.threejs.ModelVisualizationJson.createFrameMessageJson(ModelVisualizationJson.java:703)
at org.opensim.view.pub.ViewDB.updateModelDisplayNoRepaint(ViewDB.java:863)
at org.opensim.view.motions.MasterMotionModel.doUpdateAndRepaint(MasterMotionModel.java:82)
at org.opensim.view.motions.MasterMotionModel.applyTime(MasterMotionModel.java:98)
at org.opensim.view.motions.MasterMotionModel.setTime(MasterMotionModel.java:287)
at org.opensim.view.motions.MotionControlJPanel.handleUserTimeChange(MotionControlJPanel.java:613)
at org.opensim.view.motions.MotionControlJPanel.jTimeTextFieldPropertyChange(MotionControlJPanel.java:504)
at org.opensim.view.motions.MotionControlJPanel.access$900(MotionControlJPanel.java:63)
at org.opensim.view.motions.MotionControlJPanel$10.propertyChange(MotionControlJPanel.java:335)
at java.beans.PropertyChangeSupport.fire(PropertyChangeSupport.java:335)
at java.beans.PropertyChangeSupport.firePropertyChange(PropertyChangeSupport.java:327)
at java.beans.PropertyChangeSupport.firePropertyChange(PropertyChangeSupport.java:263)
at java.awt.Component.firePropertyChange(Component.java:8428)
at java.awt.Component.setBackground(Component.java:1835)
at javax.swing.JComponent.setBackground(JComponent.java:2733)
at javax.swing.plaf.basic.BasicTextUI.updateBackground(BasicTextUI.java:277)
at javax.swing.plaf.basic.BasicTextUI.propertyChange(BasicTextUI.java:205)
at javax.swing.plaf.basic.BasicTextUI$UpdateHandler.propertyChange(BasicTextUI.java:1814)
at java.beans.PropertyChangeSupport.fire(PropertyChangeSupport.java:335)
at java.beans.PropertyChangeSupport.firePropertyChange(PropertyChangeSupport.java:327)
at java.beans.PropertyChangeSupport.firePropertyChange(PropertyChangeSupport.java:263)
at java.beans.PropertyChangeSupport.firePropertyChange(PropertyChangeSupport.java:303)
at java.awt.Component.firePropertyChange(Component.java:8448)
at javax.swing.JComponent.firePropertyChange(JComponent.java:4491)
at javax.swing.JComponent.setEnabled(JComponent.java:2681)
at org.opensim.view.motions.MotionControlJPanel.enableComponents(MotionControlJPanel.java:772)
at org.opensim.view.motions.MotionControlJPanel.updatePanelDisplay(MotionControlJPanel.java:661)
at org.opensim.view.motions.MotionControlJPanel.update(MotionControlJPanel.java:722)
at java.util.Observable.notifyObservers(Observable.java:159)
at org.opensim.view.motions.MotionsDB.addMotion(MotionsDB.java:236)
at org.opensim.view.motions.MotionsDB.loadMotionStorage(MotionsDB.java:160)
at org.opensim.view.motions.MotionsDB.loadMotionFile(MotionsDB.java:146)
at org.opensim.view.motions.FileLoadMotionMenuAction.loadMotion(FileLoadMotionMenuAction.java:80)
at org.opensim.view.motions.FileLoadMotionMenuAction.performAction(FileLoadMotionMenuAction.java:52)
at org.openide.util.actions.CallableSystemAction$1.run(CallableSystemAction.java:130)
at org.openide.util.actions.ActionInvoker$1.run(ActionInvoker.java:95)
at org.openide.util.actions.ActionInvoker.doPerformAction(ActionInvoker.java:116)
at org.openide.util.actions.ActionInvoker.invokeAction(ActionInvoker.java:99)
at org.openide.util.actions.CallableSystemAction.actionPerformed(CallableSystemAction.java:127)
at javax.swing.AbstractButton.fireActionPerformed(AbstractButton.java:2022)
at javax.swing.AbstractButton$Handler.actionPerformed(AbstractButton.java:2348)
at javax.swing.DefaultButtonModel.fireActionPerformed(DefaultButtonModel.java:402)
at javax.swing.DefaultButtonModel.setPressed(DefaultButtonModel.java:259)
at javax.swing.AbstractButton.doClick(AbstractButton.java:376)
at javax.swing.plaf.basic.BasicMenuItemUI.doClick(BasicMenuItemUI.java:842)
at javax.swing.plaf.basic.BasicMenuItemUI$Handler.mouseReleased(BasicMenuItemUI.java:886)
at java.awt.Component.processMouseEvent(Component.java:6533)
at javax.swing.JComponent.processMouseEvent(JComponent.java:3324)
at java.awt.Component.processEvent(Component.java:6298)
at java.awt.Container.processEvent(Container.java:2237)
at java.awt.Component.dispatchEventImpl(Component.java:4889)
at java.awt.Container.dispatchEventImpl(Container.java:2295)
at java.awt.Component.dispatchEvent(Component.java:4711)
at java.awt.LightweightDispatcher.retargetMouseEvent(Container.java:4889)
at java.awt.LightweightDispatcher.processMouseEvent(Container.java:4526)
at java.awt.LightweightDispatcher.dispatchEvent(Container.java:4467)
at java.awt.Container.dispatchEventImpl(Container.java:2281)
at java.awt.Window.dispatchEventImpl(Window.java:2746)
at java.awt.Component.dispatchEvent(Component.java:4711)
at java.awt.EventQueue.dispatchEventImpl(EventQueue.java:760)
at java.awt.EventQueue.access$500(EventQueue.java:97)
at java.awt.EventQueue$3.run(EventQueue.java:709)
at java.awt.EventQueue$3.run(EventQueue.java:703)
at java.security.AccessController.doPrivileged(Native Method)
at java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(ProtectionDomain.java:80)
at java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(ProtectionDomain.java:90)
at java.awt.EventQueue$4.run(EventQueue.java:733)
at java.awt.EventQueue$4.run(EventQueue.java:731)
at java.security.AccessController.doPrivileged(Native Method)
at java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(ProtectionDomain.java:80)
at java.awt.EventQueue.dispatchEvent(EventQueue.java:730)
at org.netbeans.core.TimableEventQueue.dispatchEvent(TimableEventQueue.java:159)
[catch] at java.awt.EventDispatchThread.pumpOneEventForFilters(EventDispatchThread.java:205)
at java.awt.EventDispatchThread.pumpEventsForFilter(EventDispatchThread.java:116)
at java.awt.EventDispatchThread.pumpEventsForHierarchy(EventDispatchThread.java:105)
at java.awt.EventDispatchThread.pumpEvents(EventDispatchThread.java:101)
at java.awt.EventDispatchThread.pumpEvents(EventDispatchThread.java:93)
at java.awt.EventDispatchThread.run(EventDispatchThread.java:82)'.

So for this problem we can load the resulted motion, but our model don't move.
Someone knows how to fix the problem?
Thanks!

[Ayman Habib]

Hello,

Based on the stacktrace I can see the following:
1. InverseKinematics works properly, it doesn't use muscles anyway.
2. The stack trace suggests issue with displaying muscles that have wrapping objects. Are you using a model from our distribution or a custom one? If the latter I would suggest you scrutinize path wrapping as some models use muscle wrapping excessively and produce configurations where wrapping display is troublesome. If you can send/post a reduced model that reproduces the issue that would also help.

Best regards,
-Ayman

[Benedetta Baldini]

Hi,
We have used these models: UpperLowerBody and Stanford VA upper limb model_1, and in both of them we have the same problem.