Inverse Kinematics won't run on a Scaled Model
Posted: Tue Jun 27, 2017 5:33 am
Hello,
I have been trying to run inverse kinematics on my scaled version of a model and it will not work. Oddly enough when the model is not scaled the inverse kinematics study runs but has large marker position errors. The error message I receive when I run IK with the scaled model is always this (though the tolerance I achieve changes depending on how I weight things):
InverseKinematicsTool Failed: AssemblySolver::assemble() Failed: SimTK Exception thrown at Assembler.cpp:871:
Method Assembler::assemble() failed because:
Optimizer failed with message: SimTK Exception thrown at InteriorPointOptimizer.cpp:261:
Optimizer failed: Ipopt: Maximum iterations exceeded (status -1)
Assembly error tolerance achieved: 0.0460375326058541 required: 1e-006.
Sometimes when I run the analysis with the right weights I can get a few frames into the coordinate data (max I have gotten is 14 frames) before the error message appears.
I have attached the files I have been using in a zipped folder. IK Settings2 6_22_2017.xml is the set of settings where I got the most frames to run.
What I have already tried:
I have iterated scaling repeatedly by changing the positions of markers on the generic model to match experimental data as best as I can.
I have tried to make sure the experimental data is facing the correct direction and is close to the origin. Rotation seems to give me bad scaling results. I don't know if displacement of marker data affects analysis though.
Using different weights for IK (and to a lesser extent scaling).
I have been trying to run inverse kinematics on my scaled version of a model and it will not work. Oddly enough when the model is not scaled the inverse kinematics study runs but has large marker position errors. The error message I receive when I run IK with the scaled model is always this (though the tolerance I achieve changes depending on how I weight things):
InverseKinematicsTool Failed: AssemblySolver::assemble() Failed: SimTK Exception thrown at Assembler.cpp:871:
Method Assembler::assemble() failed because:
Optimizer failed with message: SimTK Exception thrown at InteriorPointOptimizer.cpp:261:
Optimizer failed: Ipopt: Maximum iterations exceeded (status -1)
Assembly error tolerance achieved: 0.0460375326058541 required: 1e-006.
Sometimes when I run the analysis with the right weights I can get a few frames into the coordinate data (max I have gotten is 14 frames) before the error message appears.
I have attached the files I have been using in a zipped folder. IK Settings2 6_22_2017.xml is the set of settings where I got the most frames to run.
What I have already tried:
I have iterated scaling repeatedly by changing the positions of markers on the generic model to match experimental data as best as I can.
I have tried to make sure the experimental data is facing the correct direction and is close to the origin. Rotation seems to give me bad scaling results. I don't know if displacement of marker data affects analysis though.
Using different weights for IK (and to a lesser extent scaling).