Inverse Dynamics Warning/Static Optimization

[Amanda Shorter]

I am simulating a jump landing model and have no problems with scaling the model or running IK, however when I run ID I receive the following warning:

Model::formCompleteStorages(): WARNING- Did not find column pelvis_tilt in storage object.

This occurs for all forces and moments.
The .sto file is produced from ID as expected and contains all the appropriate columns and data so I am unsure what this warning is referencing and the effect it is having. (ID output is attached as an xls file)

The same warning appears when running Static Optimization as well as the following:

Executing the analyses from -2.33147e-014 to 2.18...
SimTK Exception thrown at InteriorPointOptimizer.cpp:262:
Optimizer failed: Ipopt: Infeasible problem detected (status 2)
OPTIMIZATION FAILED...

Any incite on these issues would be appreciated

[Amanda Shorter]

I no longer receive the warnings after running ID, but static optimization will not run. No errors or warnings appear, but the the tool does not do anything and runs indefinitely. I have tried to reduce degrees of freedom by locking coordinates but have not found success.

I am also unsure how exactly to use the SO tool since the manual says one thing and the tutorial on SO and joint reactions another (both of which are not working for me)

Any incite?

[Amanda Shorter]

I have gotten the Static Optimization tool to run, but it takes much longer than it should and I receive the following warning:

Low-pass filtering coordinates data with a cutoff frequency of 6.
Executing the analyses from 0 to 2.18...
SimTK Exception thrown at InteriorPointOptimizer.cpp:262:
Optimizer failed: Ipopt: Maximum iterations exceeded (status -1)
OPTIMIZATION FAILED...

StaticOptimization.record: WARN- The optimizer could not find a solution at time = 0

The model appears unsuitable for static optimization.
Try appending the model with additional force(s) or locking joint(s) to reduce the following acceleration constraint violation(s):
pelvis_tilt: constraint violation = -38.612
pelvis_list: constraint violation = -2.71409
pelvis_rotation: constraint violation = -0.955227
pelvis_tx: constraint violation = -1.87359
pelvis_ty: constraint violation = 0.358915
pelvis_tz: constraint violation = 0.70069
hip_flexion_r: constraint violation = 45.0521
hip_adduction_r: constraint violation = -5.53206
hip_rotation_r: constraint violation = -29.8482
knee_angle_r: constraint violation = -4.29367
ankle_angle_r: constraint violation = 1.4063
subtalar_angle_r: constraint violation = -1.62987
mtp_angle_r: constraint violation = 74.5318
lumbar_extension: constraint violation = -28.9028
lumbar_bending: constraint violation = 2.46644
lumbar_rotation: constraint violation = 2.26479


time = 0 Performance =3.42489 Constraint violation = 104.303
Bounds for glut_med1_r: 0 to 1
Bounds for glut_med2_r: 0 to 1
Bounds for glut_med3_r: 0 to 1
Bounds for bifemlh_r: 0 to 1
Bounds for bifemsh_r: 0 to 1
Bounds for sar_r: 0 to 1
Bounds for add_mag2_r: 0 to 1
Bounds for tfl_r: 0 to 1
Bounds for pect_r: 0 to 1
Bounds for grac_r: 0 to 1
Bounds for glut_max1_r: 0 to 1
Bounds for glut_max2_r: 0 to 1
Bounds for glut_max3_r: 0 to 1
Bounds for iliacus_r: 0 to 1
Bounds for psoas_r: 0 to 1
Bounds for quad_fem_r: 0 to 1
Bounds for gem_r: 0 to 1
Bounds for peri_r: 0 to 1
Bounds for rect_fem_r: 0 to 1
Bounds for vas_int_r: 0 to 1
Bounds for med_gas_r: 0 to 1
Bounds for soleus_r: 0 to 1
Bounds for tib_post_r: 0 to 1
Bounds for tib_ant_r: 0 to 1
Bounds for ercspn_r: 0 to 1
Bounds for ercspn_l: 0 to 1
Bounds for intobl_r: 0 to 1
Bounds for intobl_l: 0 to 1
Bounds for extobl_r: 0 to 1
Bounds for extobl_l: 0 to 1
Bounds for pelvis_tilt: -1.#INF to 1.#INF
Bounds for pelvis_list: -1.#INF to 1.#INF
Bounds for pelvis_rotation: -1.#INF to 1.#INF
Bounds for pelvis_tx: -1.#INF to 1.#INF
Bounds for pelvis_ty: -1.#INF to 1.#INF
Bounds for pelvis_tz: -1.#INF to 1.#INF
Bounds for FX: -1000 to 1000
Bounds for FY: -1000 to 1000
Bounds for FZ: -1000 to 1000
Bounds for MX: -1000 to 1000
Bounds for MY: -1000 to 1000
Bounds for MZ: -1000 to 1000
SimTK Exception thrown at InteriorPointOptimizer.cpp:262:
Optimizer failed: Ipopt: Maximum iterations exceeded (status -1)
OPTIMIZATION FAILED...

The constraint violation warnings occur at every time step. I have tried restraining coordinates and adding actuators but continue to get the warnings any advice?

[Michala Cadova]

I am getting, in general, the same errors. For the static optimization it is the: InteriorPointOptimizer.cpp:262. What does it mean?

Michala

[Ayman Habib]

Hi Michala,

I highly recommend you check the page related to StaticOptimization on our new support site below as it explains what the violations mean and how to deal with them and let us know if you continue to have problems or have further questions.

Best regards,
-Ayman

http://simtk-confluence.stanford.edu:80 ... timization