simtk.org

Hi,

I'm using the gait 2392 model. After performing the scaling and IK steps, I am trying to perform the RRA step, however I can not make it right since the this error keeps appearing, and I am not able to find the solution for this.

I think I checked out all the possible issues given in the message window, but I am clearly missing something.

Any advice?


Here is the message that appears in the message window:

SimTK Exception thrown at InteriorPointOptimizer.cpp:261:
Optimizer failed: Ipopt: Maximum iterations exceeded (status -1)
OPTIMIZATION FAILED...


CMC.computeControls: ERROR- Optimizer could not find a solution.
Unable to find a feasible solution at time = 0.458333.
Model cannot generate the forces necessary to achieve the target acceleration.
Possible issues: 1. not all model degrees-of-freedom are actuated,
2. there are tracking tasks for locked coordinates, and/or
3. there are unnecessary control constraints on reserve/residual actuators.

Thank you in advance,

Rodrigo Mateus

Try searching the forum. This is a common issue.

Here is a previous post;
viewtopicPhpbb.php?f=91&t=5709&p=14389&start=0&view=

Thank you, I think I solved my problem by adjusting the default min and max of the residual force and moment excitations in the controlConstraints.xml.

Thanks again!