Static Optimization for Dead Lift Exercise
Posted: Fri Jul 24, 2015 7:19 am
Hi,
I am currently working on modeling free weight versions of the squat, heel raise, and dead lift lifts. The squat and heel raise models work well, but I'm having trouble getting the dead lift model to run static optimization. Whenever I run SO, I end up with huge constraint violations and SO ends up pausing in the middle of the run and then not completing. An example of the constraint violations I am getting:
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 = -0.204767
pelvis_list: constraint violation = 0.0755459
pelvis_rotation: constraint violation = 0.627646
pelvis_tx: constraint violation = -0.0617994
pelvis_ty: constraint violation = 0.0333018
pelvis_tz: constraint violation = -0.0232778
back_tilt: constraint violation = 0.202653
back_list: constraint violation = 0.0285697
back_rotation: constraint violation = 0.168247
unrothum_r1: constraint violation = 3.03562e+016
unrothum_r3: constraint violation = 7.09172e+014
unrothum_r2: constraint violation = -3.10962e+016
elv_angle: constraint violation = -1.09368e+015
shoulder_elv: constraint violation = -8.18437e+015
shoulder1_r2: constraint violation = 7.2062e+016
shoulder_rot: constraint violation = -3.45705e+016
elbow_flexion: constraint violation = -1.59632
unrothum_r1_l: constraint violation = -8.97744e+014
unrothum_r3_l: constraint violation = -1.83573e+014
unrothum_r2_l: constraint violation = -1.30657e+015
elv_angle_l: constraint violation = 2.2248e+015
shoulder_elv_l: constraint violation = -2.01511e+014
shoulder1_r2_l: constraint violation = -8.62266e+014
shoulder_rot_l: constraint violation = -3.25646e+013
elbow_flexion_l: constraint violation = -5.6418
hip_flexion_r: constraint violation = 0.027284
hip_adduction_r: constraint violation = -0.0704151
hip_rotation_r: constraint violation = -0.0152011
knee_angle_r: constraint violation = 0.0404857
ankle_angle_r: constraint violation = 16.2315
subtalar_angle_r: constraint violation = 8.34196
mtp_angle_r: constraint violation = -525.732
hip_flexion_l: constraint violation = -0.111474
hip_adduction_l: constraint violation = 0.31994
hip_rotation_l: constraint violation = -0.500975
knee_angle_l: constraint violation = -0.697672
ankle_angle_l: constraint violation = 47.9629
subtalar_angle_l: constraint violation = -11.7635
mtp_angle_l: constraint violation = -314.757
bar_xRotation: constraint violation = 306.011
bar_yRotation: constraint violation = 13.232
bar_zRotation: constraint violation = -0.0378625
bar_xTranslation: constraint violation = 0.769336
bar_yTranslation: constraint violation = 4.07416
bar_zTranslation: constraint violation = -5.11775
deviation_l: constraint violation = -0.477607
flexion_l: constraint violation = -60.4342
deviation: constraint violation = -3.24392
flexion: constraint violation = 23.6764
time = 1.96 Performance =0.00033404 Constraint violation = 9.13974e+016
I am using a different model for the dead lift than the squat and heel raise since the upper body muscles and joints need to be included for the dead lift. When I ran IK for the dead lift, the scapula bones on the model were not locked in place and moving around so I locked those coordinates. However, these locked coordinates are the ones that are producing the large constraint violations. I've tried unlocking these coordinates and running the simulation but this does not change anything. I've also read through all similar issues that have been posted to this forum and tried all of the solutions and none of them have worked for me. The things I've tried to fix this issue include: strengthening the model by increasing the max_isometric_force; using very large reserve actuators; checking the coordinates from the motion capture data and making sure they match the model; making sure the ground reaction force data is in the correct units and has reasonable values.
I have attached my model and all relevant files to run SO.
Thank you.
I am currently working on modeling free weight versions of the squat, heel raise, and dead lift lifts. The squat and heel raise models work well, but I'm having trouble getting the dead lift model to run static optimization. Whenever I run SO, I end up with huge constraint violations and SO ends up pausing in the middle of the run and then not completing. An example of the constraint violations I am getting:
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 = -0.204767
pelvis_list: constraint violation = 0.0755459
pelvis_rotation: constraint violation = 0.627646
pelvis_tx: constraint violation = -0.0617994
pelvis_ty: constraint violation = 0.0333018
pelvis_tz: constraint violation = -0.0232778
back_tilt: constraint violation = 0.202653
back_list: constraint violation = 0.0285697
back_rotation: constraint violation = 0.168247
unrothum_r1: constraint violation = 3.03562e+016
unrothum_r3: constraint violation = 7.09172e+014
unrothum_r2: constraint violation = -3.10962e+016
elv_angle: constraint violation = -1.09368e+015
shoulder_elv: constraint violation = -8.18437e+015
shoulder1_r2: constraint violation = 7.2062e+016
shoulder_rot: constraint violation = -3.45705e+016
elbow_flexion: constraint violation = -1.59632
unrothum_r1_l: constraint violation = -8.97744e+014
unrothum_r3_l: constraint violation = -1.83573e+014
unrothum_r2_l: constraint violation = -1.30657e+015
elv_angle_l: constraint violation = 2.2248e+015
shoulder_elv_l: constraint violation = -2.01511e+014
shoulder1_r2_l: constraint violation = -8.62266e+014
shoulder_rot_l: constraint violation = -3.25646e+013
elbow_flexion_l: constraint violation = -5.6418
hip_flexion_r: constraint violation = 0.027284
hip_adduction_r: constraint violation = -0.0704151
hip_rotation_r: constraint violation = -0.0152011
knee_angle_r: constraint violation = 0.0404857
ankle_angle_r: constraint violation = 16.2315
subtalar_angle_r: constraint violation = 8.34196
mtp_angle_r: constraint violation = -525.732
hip_flexion_l: constraint violation = -0.111474
hip_adduction_l: constraint violation = 0.31994
hip_rotation_l: constraint violation = -0.500975
knee_angle_l: constraint violation = -0.697672
ankle_angle_l: constraint violation = 47.9629
subtalar_angle_l: constraint violation = -11.7635
mtp_angle_l: constraint violation = -314.757
bar_xRotation: constraint violation = 306.011
bar_yRotation: constraint violation = 13.232
bar_zRotation: constraint violation = -0.0378625
bar_xTranslation: constraint violation = 0.769336
bar_yTranslation: constraint violation = 4.07416
bar_zTranslation: constraint violation = -5.11775
deviation_l: constraint violation = -0.477607
flexion_l: constraint violation = -60.4342
deviation: constraint violation = -3.24392
flexion: constraint violation = 23.6764
time = 1.96 Performance =0.00033404 Constraint violation = 9.13974e+016
I am using a different model for the dead lift than the squat and heel raise since the upper body muscles and joints need to be included for the dead lift. When I ran IK for the dead lift, the scapula bones on the model were not locked in place and moving around so I locked those coordinates. However, these locked coordinates are the ones that are producing the large constraint violations. I've tried unlocking these coordinates and running the simulation but this does not change anything. I've also read through all similar issues that have been posted to this forum and tried all of the solutions and none of them have worked for me. The things I've tried to fix this issue include: strengthening the model by increasing the max_isometric_force; using very large reserve actuators; checking the coordinates from the motion capture data and making sure they match the model; making sure the ground reaction force data is in the correct units and has reasonable values.
I have attached my model and all relevant files to run SO.
Thank you.