Lesson2: Initial Conditions¶
Before we look at the InitialConditions operation, let us just notice that when the model is loaded, the segments of the model are positioned in space according to their definition in terms of the r0 and Axes0 properties in each segment’s definition. These are called the load-time positions.
In the figure below, the user has tried to position the forearm and the upper arm approximately at the right positions and angles at load time. This is always a good idea, but it is almost impossible to get them completely in place, and it is not necessary. Indeed, in more complicated models, you can often find the segments and muscles in a big mess at load time. Typically, you will want to see what the model looks like when it has been assembled correctly for time step 1. This is what the InitialConditions operation is for.
When you run the InitialConditions operation, it will attempt to put the model in the position is has at time = tStart. This may or may not be possible, and in the development stages of a model, when the joints and drivers are not yet fully defined, it is definitely not possible, and this is the reason why the system does not do it automatically when you load the model. Running the InitialConditions operation produces a correctly assembled arm:
Here’s a more detailed explanation: The system must perform a kinematical analysis to connect the model correctly at the joints. This requires that the model is kinematically determinate. Another way of expressing that is that there must be the correct number of - and relationship between joints and drivers in the model. It usually takes some iterations in the model development to get it right. During these iterations it is useful to be able to load the model and see a picture of it, and this is why the loading simply positions the segments where the user placed them.
Instead of simply running the InitialConditions operation, you can also single-step through it to see what it does. This is done by clicking the “Step” button instead of the “Run” button.
The first step re-establishes the load-time conditions. This means that it positions the model as it was when you loaded it. This is useful for identification of kinematic problems. The second step positions the segments honoring the joints. The third does not seem to do much, but it is used for positioning muscles wrapping over surfaces. It is just not visible in this simple model.
The InitialConditions study can be thought of as the first step of a kinematic analysis, which will be the subject of the next lesson.
Next lesson: Lesson 3: Kinematic Analysis.