From ca24eee8034c3e832792a6035441c131913dbbbc Mon Sep 17 00:00:00 2001 From: Jacob Hilmar Adamsen Date: Tue, 17 Sep 2024 10:11:13 +0200 Subject: [PATCH] Tutorial snippet updates (#23) * Tutorial snippet updates * Tutorial images and text changes * Tutorial snippets in Getting started * Tutorial snippets in Modeling the human body * Created whole folders for snippet files * Update tests * Used cmd.exe to create lib in ci test * Merge commit '118df158da292f4b7f185ff8d0172692779da1e9' * Updates to tutorial Modeling the Human Body. New folder structure * Final updates to the first 4 tutorials. * Update file paths in lesson1.md * rename1 * rename2 * Tutorial updates - file structure, images and more * Update file path in lesson2.md --------- Co-authored-by: Jacob Hilmar Adamsen Co-authored-by: Morten Enemark Lund --- .github/workflows/build.yaml | 16 +- .../Model/BodyModelConfiguration.any | 15 + .../MyStandingHuman-1/Model/DrawSettings.any | 149 + .../MyStandingHuman-1/Model/Environment.any | 25 + .../MyStandingHuman-1/Model/GRFPrediction.any | 47 + .../Model/JointsAndDrivers.any | 82 + .../Model/LeftFootDrivers.any | 62 + .../MyStandingHuman-1/Model/Mannequin.any | 298 + .../Model/RightFootDrivers.any | 33 + .../Model/RunAppSequence.any | 24 + .../MyStandingHuman-1/NewModel.main.any | 74 + .../lesson2/MyStandingHuman-1/libdef.any | 9 + .../Model/BodyModelConfiguration.any | 15 + .../MyStandingHuman-2/Model/DrawSettings.any | 149 + .../MyStandingHuman-2/Model/Environment.any | 25 + 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tutorials + - uses: actions/checkout@v4 + with: + repository: anybody/ammr + ref: master + path: ammr + + - shell: cmd + run: | + echo #include "%GITHUB_WORKSPACE%/ammr/libdef.any" > libdef.any + - uses: prefix-dev/setup-pixi@v0.8.1 with: cache: true cache-write: ${{ github.event_name == 'push' && github.ref_name == 'master' }} environments: test + manifest-path: tutorials/pixi.toml activate-environment: true - name: Test Snippets if: ${{ !github.event.pull_request.head.repo.fork && github.repository == 'anybody/tutorials' }} - run: pytest + run: | + cd tutorials + pytest env: RLM_LICENSE: ${{ secrets.LICENSE_TEST_SERVER }} RLM_LICENSE_PASSWORD: ${{ secrets.LICENSE_TEST_SERVER_PASSWORD }} diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/BodyModelConfiguration.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/BodyModelConfiguration.any new file mode 100644 index 00000000..7b294435 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/BodyModelConfiguration.any @@ -0,0 +1,15 @@ +#path __BM_PLUGIN_FILE__ "BodyModelConfiguration.any" +#define BM_CONFIG_PLUGIN __BM_PLUGIN_FILE__ + +// ----------------------------------------------------------------------------------- +// The BodyModel configuration can be modified using BodyModel GUI plugin +// or by manually editing this file. +// +// Please see this this file for more information on the options: +// #path HTML_DOC "/bm_config/index.html" +// ----------------------------------------------------------------------------------- + +#define BM_MANNEQUIN_DRIVER_DEFAULT ON + +// Enable the TLEM2 lower extremity model +#define BM_LEG_MODEL _LEG_MODEL_TLEM2_ \ No newline at end of file diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/DrawSettings.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/DrawSettings.any new file mode 100644 index 00000000..1cb0aa9c --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/DrawSettings.any @@ -0,0 +1,149 @@ + +DrawSettings ={ + + + //This is the color definitions of the nodes and segments + Colors = { + AnyBodyRed = {149/256,51/256,55/256}; //AnyBody standard red + AnyBodyGreen = {47/256,131/256,80/256}; //AnyBody standard green + AnyBodyBlue = {82/256,85/256,111/256}; //AnyBody standard blue + AnyBodyYellow= {235/256,197/256,17/256}; //AnyBody standard yellow + AnyBodyPaleYellow = {248/256,204/256,115/256}; //AnyBody standard pale yellow +AnyBodyGrey = {153/256,153/256,153/256}; //AnyBody standard grey + + Nodes = AnyBodyPaleYellow; + Segments = AnyBodyPaleYellow; +}; + + Muscle ={ + RGB = .Colors.AnyBodyRed; + Visible =On; + DrawScaleOnOff =Off; + Bulging =0.0; + ColorScale =1.0; + RGBColorScale = {0.957031, 0.785156, 0.785156}; + MaxStress = 2500000.000000; //N/m^2 //This number is for graphics only! + Opacity =1.0; + DrawScale = + { + EnableCreasing = Off; + CreasingAngle = 0.524; + EnableWireframe = Off; + EnableSmoothing = On; + Param = 0.0; + ParamArray = {0.0, 0.167, 0.333, 0.5, 0.667, 0.833, 1.0}; + RGBArray = {{0.0, 0.0, 0.6}, {0.0, 0.0, 1.0}, {0.0, 1.0, 1.0}, {0.0, 1.0, 0.0}, {1.0, 1.0, 0.0}, {1.0, 0.0, 0.0}, {0.6, 0.0, 0.0}}; + OpacityArray = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}; + }; + }; + + + BonesOpacity ={ + + GlobalCoef = 1; + + Skull = 1*GlobalCoef; + Thorax = 1*GlobalCoef; + Pelvis = 1*GlobalCoef; + Sacrum = 1*GlobalCoef; + L5 = 1*GlobalCoef; + L4 = 1*GlobalCoef; + L3 = 1*GlobalCoef; + L2 = 1*GlobalCoef; + L1 = 1*GlobalCoef; + + RightFoot = 1*GlobalCoef; + RightShank = 1*GlobalCoef; + RightThigh = 1*GlobalCoef; + + LeftFoot = 1*GlobalCoef; + LeftShank = 1*GlobalCoef; + LeftThigh = 1*GlobalCoef; + + + RightClavicula = 1*GlobalCoef; + RightScapula = 1*GlobalCoef; + RightHumerus = 1*GlobalCoef; + RightUlna = 1*GlobalCoef; + RightRadius = 1*GlobalCoef; + RightHand = 1*GlobalCoef; + + LeftClavicula = 1*GlobalCoef; + LeftScapula = 1*GlobalCoef; + LeftHumerus = 1*GlobalCoef; + LeftUlna = 1*GlobalCoef; + LeftRadius = 1*GlobalCoef; + LeftHand = 1*GlobalCoef; + + + // For leg TD only. + RightTalus = 1*GlobalCoef; + RightPatella = 1*GlobalCoef; + + LeftTalus = 1*GlobalCoef; + LeftPatella = 1*GlobalCoef; + + + // For detailed cervical model only. + C1 = 1*GlobalCoef; + C2 = 1*GlobalCoef; + C3 = 1*GlobalCoef; + C4 = 1*GlobalCoef; + C5 = 1*GlobalCoef; + C6 = 1*GlobalCoef; + C7 = 1*GlobalCoef; + }; + + + + SegmentAxes ={ + RGB ={0,0,1}; + ScaleXYZ ={0.0001,0.00001,0.00001}; + }; + BML ={ + ScaleXYZ ={0.0006,0.0006,0.0006}; + RGB = .Colors.AnyBodyBlue; + }; + JointAxesProximal = { + RGB = .Colors.AnyBodyRed; + ScaleXYZ = {0.015,0.015,0.015}; + }; + JointAxesDistal = { + RGB = .Colors.AnyBodyGreen; + ScaleXYZ = {0.01,0.01,0.01}; + }; + + + SegmentNodes ={ + ScaleXYZ ={0.0005,0.0005,0.0005}; + RGB = .Colors.AnyBodyRed; + }; + WrapGeometry ={ + RGB ={1,1,1}; + }; + + DrawSettingsSupport={ + Lin={ + ScaleFactor=0.004; + RGB = {0,0,1}; + Thickness = 0.004; + HeadThickness = 2*Thickness; + HeadLength = 3*Thickness; + }; + Rot={ + ScaleFactor=0.08; + RGB = {1,0,0}; + Thickness = 0.075; + HeadThickness = 2*Thickness; + HeadLength = 5*Thickness; + }; + }; + + + Marker={ + Color={0,0,1}; + Radius=0.00; + + }; + +}; //DrawSettings \ No newline at end of file diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/Environment.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/Environment.any new file mode 100644 index 00000000..2402d1e6 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/Environment.any @@ -0,0 +1,25 @@ +AnyFolder Environment = { + //^ Environment files are used to include objects surrounding human, + //^ e.g. global reference frame + + AnyFixedRefFrame GlobalRef = + { + AnyDrawRefFrame drw={ScaleXYZ=0.3*{1,1,1};}; + + AnyRefNode RightFootPrint = { + //^ Positioning of the right foot. + //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS + sRel = HeelPosition; + ARel = RotMat({0,0,0}, ToeDirection, {0,10,0}); + AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};}; + }; + + AnyRefNode LeftFootPrint = { + //^ Positioning of the right foot. + //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS + sRel = HeelPosition; + ARel = RotMat({0,0,0}, ToeDirection, {0,10,0}); + AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};}; + }; + }; +}; \ No newline at end of file diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/GRFPrediction.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/GRFPrediction.any new file mode 100644 index 00000000..880f4312 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/GRFPrediction.any @@ -0,0 +1,47 @@ + + //-------- GRFPrediction for the right leg + // See: #include "/Tools/GRFPrediction/FootPlateConditionalContact.any" + FootPlateConditionalContact GRF_Prediction_Right( + NORMAL_DIRECTION = "Y", + NUMBER_OF_NODES = 25, + NODES_FOLDER = FootNodes, + PLATE_BASE_FRAME = Main.Model.Environment.GlobalRef, + GLOBAL_REF = Main.Model.Environment.GlobalRef, + SHOW_TRIGGER_VOLUME = ON + ) = + { + CreateFootContactNodes25 FootNodes( + foot_ref=Main.HumanModel.BodyModel.Right.Leg.Seg.Foot + ) = {}; + + // Additional force plate settings + Settings = + { + LimitDistHigh = 0.025; // Vertical height + FrictionCoefficient = 0.8; + }; + }; + + + //-------- GRFPrediction for the right leg + // See: #include "/Tools/GRFPrediction/FootPlateConditionalContact.any" + FootPlateConditionalContact GRF_Prediction_Left( + NORMAL_DIRECTION = "Y", + NUMBER_OF_NODES = 25, + NODES_FOLDER = FootNodes, + PLATE_BASE_FRAME = Main.Model.Environment.GlobalRef, + GLOBAL_REF = Main.Model.Environment.GlobalRef, + SHOW_TRIGGER_VOLUME = ON + ) = + { + CreateFootContactNodes25 FootNodes( + foot_ref=Main.HumanModel.BodyModel.Left.Leg.Seg.Foot + ) = {}; + + Settings = + { + LimitDistHigh = 0.025; + FrictionCoefficient = 0.8; + }; + }; + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/JointsAndDrivers.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/JointsAndDrivers.any new file mode 100644 index 00000000..f538a299 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/JointsAndDrivers.any @@ -0,0 +1,82 @@ + +// Center of Mass drivers can be excluded +// by setting #define EXCLUDE_COM_BALANCE_DRIVERS +#ifndef EXCLUDE_COM_BALANCE_DRIVERS + + //Constraint the collective CoM to be right above the GlobalRef + AnyKinDriver CenterOfMassDriver = { + AnyKinMeasure& CoM = ..BodyModel.Interface.CenterOfMass; + AnyFunConst Position = { + Value = Main.Model.CenterOfMassXZ; + }; + MeasureOrganizer = {0,2}; // Only the x and z directions + Reaction.Type = {Off,Off}; + + }; + // Ankles are assigned a lower weight so most of the + // center of mass balancing will happen at the ankle joint. + Main.Model.DefaultMannequinDrivers.DefaultWeakDriverWeight = 0.01; + Main.Model.DefaultMannequinDrivers.AnkleDriverLeftFlexion.WeakDriverWeight = 0.001; + Main.Model.DefaultMannequinDrivers.AnkleDriverRightFlexion.WeakDriverWeight = 0.001; + +#endif + + + +// Foot driver constraints can be excluded +// by setting #define EXCLUDE_FOOT_CONSTRAINTS +#ifndef EXCLUDE_FOOT_CONSTRAINTS + + // Default drivers for the pelvis position is set to zero + // since foot drivers determine the position of the model + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosX.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosY.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosZ.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotX.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotY.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotZ.WeakDriverWeight = 0; + + + AnyFolder Right = + { + AnyKinEq HeelFloorContraint = { + AnyKinLinear HeelMeasure = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.RightFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.HeelContactNodeLow; + }; + Reaction.Type = {Off,Off,Off}; + }; + + AnyKinEq ToeDirectionContraint = + { + AnyKinLinear ToeDirection = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.RightFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1,2}; // Only y,z direction + Reaction.Type = {Off,Off}; + }; + }; + + AnyFolder Left = + { + AnyKinEq HeelFloorContraint = { + AnyKinLinear HeelMeasure = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.LeftFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Left.Leg.Seg.Foot.HeelContactNodeLow; + }; + Reaction.Type = {Off,Off,Off}; + }; + + AnyKinEq ToeDirectionContraint = + { + AnyKinLinear ToeDirection = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.LeftFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Left.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1,2}; // Only y,z direction + Reaction.Type = {Off,Off}; + }; + }; + +#endif diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/LeftFootDrivers.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/LeftFootDrivers.any new file mode 100644 index 00000000..2416b182 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/LeftFootDrivers.any @@ -0,0 +1,62 @@ +// AnyReacForce LeftFootReaction = { +// +// AnyKinLinear LeftFootLinMeasure = { +// AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot; +// AnyFixedRefFrame &ref2 = ....Environment.GlobalRef; +// }; +// AnyKinRotational LeftFootRotMeasure = { +// AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot; +// AnyFixedRefFrame &ref2 = ....Environment.GlobalRef; +// Type = RotVector; +// +// }; +// }; + + + + // Place the Left toe and heel on the ground + AnyKinEqSimpleDriver LToeGroundConstraint ={ + AnyKinLinear ToePos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1}; // Only the y coordinate + DriverPos = {0.0}; + DriverVel = {0}; + Reaction.Type = {Off}; // Provide ground reaction forces + + }; + + AnyKinEqSimpleDriver LHeelGroundConstraint ={ + AnyKinLinear HeelPos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.HeelJoint; + #else + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.HeelContactNodeLow; + #endif + }; + MeasureOrganizer = {1}; // Only the y coordinate + DriverPos = {0.0}; + DriverVel = {0}; + Reaction.Type = {Off}; // Provide ground reaction forces + }; + + + // Position the Ankles Left above the z axis + AnyKinEqSimpleDriver LAnkleX = { + AnyKinLinear AnklePos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefNode &Ankle = ....BodyModel.Left.Leg.Seg.Foot.AnkleJoint; + #else + AnyRefNode &Ankle = ....BodyModel.Left.Leg.Seg.Foot.SubTalarJoint; + #endif + }; + MeasureOrganizer = {0}; // Only the x coordinate + DriverPos = {0.0}; + DriverVel = {0.0}; + Reaction.Type = {Off}; + }; + + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/Mannequin.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/Mannequin.any new file mode 100644 index 00000000..1c7e50dd --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/Mannequin.any @@ -0,0 +1,298 @@ +// Default mannequin position values + +HumanModel.Mannequin = { + + Posture = { + //This controls the position of the pelvis with respect to (wrt.) to the global reference frame + PelvisPosX=0.0502; + PelvisPosY=0.969; + PelvisPosZ=0; + + //This controls the rotation of the pelvis wrt. to the global reference frame + PelvisRotX=0; + PelvisRotY=0; + PelvisRotZ=-3; + + // These variables control the rotation of the thorax wrt. the + // pelvis + PelvisThoraxExtension=0; + PelvisThoraxLateralBending=0; + PelvisThoraxRotation=0; + + NeckExtension=0; + NeckLateralBending=0; // not used when neck is switched off + NeckRotation=0; // not used when neck is switched off + + Right = { + //Arm + SternoClavicularProtraction=-23; //This value is not used for initial position + SternoClavicularElevation=11.5; //This value is not used for initial position + SternoClavicularAxialRotation=-20; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion =-0; + GlenohumeralAbduction = 4; + GlenohumeralExternalRotation = 2; + + ElbowFlexion = 0.01; + ElbowPronation = -20.0; + + WristFlexion =0; + WristAbduction =0; + + //Leg + HipFlexion = 0.0; + HipAbduction = 5.0; + HipExternalRotation = 0.0; + + KneeFlexion = 4.0; + + AnklePlantarFlexion =0.0; + SubTalarEversion =0.0; + + //Detail Hand + Finger1 ={ + CMCDeviation=20; + CMCFlexion=20; + MCPFlexion= 10; + MCPDeviation=0; + DIPFlexion=0; + }; + + Finger2 ={ + MCPFlexion=10; + PIPFlexion=20; + DIPFlexion=20; + }; + + Finger3 ={ + MCPFlexion=10; + PIPFlexion=20; + DIPFlexion=20; + }; + + Finger4 ={ + MCPFlexion=10; + PIPFlexion=20; + DIPFlexion=20; + }; + + Finger5 ={ + MCPFlexion=10; + PIPFlexion=20; + DIPFlexion=20; + }; + }; + + Left = { + //all positions are set to be equal to the right side values + //feel free to change this! + + //Arm + SternoClavicularProtraction=.Right.SternoClavicularProtraction; + SternoClavicularElevation=.Right.SternoClavicularElevation; + SternoClavicularAxialRotation=.Right.SternoClavicularAxialRotation; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion = .Right.GlenohumeralFlexion ; + GlenohumeralAbduction =.Right.GlenohumeralAbduction ; + GlenohumeralExternalRotation =.Right.GlenohumeralExternalRotation ; + + ElbowFlexion = .Right.ElbowFlexion; + ElbowPronation = .Right.ElbowPronation; + + WristFlexion =.Right.WristFlexion; + WristAbduction =.Right.WristAbduction; + + //Leg + HipFlexion =.Right.HipFlexion; + HipAbduction =.Right.HipAbduction; + HipExternalRotation = .Right.HipExternalRotation; + + KneeFlexion = .Right.KneeFlexion; + + AnklePlantarFlexion = .Right.AnklePlantarFlexion ; + SubTalarEversion =.Right.SubTalarEversion; + + //Detail Hand + Finger1 ={ + CMCDeviation= ..Right.Finger1.CMCDeviation; + CMCFlexion= ..Right.Finger1.CMCFlexion; + MCPFlexion= ..Right.Finger1.MCPFlexion; + MCPDeviation= ..Right.Finger1.MCPDeviation; + DIPFlexion= ..Right.Finger1.DIPFlexion; + }; + + Finger2 ={ + MCPFlexion= ..Right.Finger2.MCPFlexion; + PIPFlexion= ..Right.Finger2.PIPFlexion; + DIPFlexion= ..Right.Finger2.DIPFlexion; + }; + + Finger3 ={ + MCPFlexion= ..Right.Finger3.MCPFlexion; + PIPFlexion= ..Right.Finger3.PIPFlexion; + DIPFlexion= ..Right.Finger3.DIPFlexion; + }; + + Finger4 ={ + MCPFlexion= ..Right.Finger4.MCPFlexion; + PIPFlexion= ..Right.Finger4.PIPFlexion; + DIPFlexion= ..Right.Finger4.DIPFlexion; + }; + + Finger5 ={ + MCPFlexion= ..Right.Finger5.MCPFlexion; + PIPFlexion= ..Right.Finger5.PIPFlexion; + DIPFlexion= ..Right.Finger5.DIPFlexion; + }; + }; + }; + + PostureVel={ + //This controls the position of the pelvis wrt. to the global reference frame + PelvisPosX=0; + PelvisPosY=0; + PelvisPosZ=0; + + //This controls the rotation of the pelvis wrt. to the global reference frame + PelvisRotX=0; + PelvisRotY=0; + PelvisRotZ=0; + + // These variables control the rotation of the thorax wrt. the + // pelvis + PelvisThoraxExtension=0; + PelvisThoraxLateralBending=0; + PelvisThoraxRotation=0; + + NeckExtension=0; + NeckLateralBending=0; // not used when neck is switched off + NeckRotation=0; // not used when neck is switched off + + Right = { + //Arm + SternoClavicularProtraction=0; //This value is not used for initial position + SternoClavicularElevation=0; //This value is not used for initial position + SternoClavicularAxialRotation=0; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion =0; + GlenohumeralAbduction = 0; + GlenohumeralExternalRotation = 0; + + ElbowFlexion = 0.0; + ElbowPronation = 0.0; + + WristFlexion =0; + WristAbduction =0; + + //Leg + HipFlexion = 0.0; + HipAbduction = 0.0; + HipExternalRotation = 0.0; + + KneeFlexion = 0.0; + + AnklePlantarFlexion =0.0; + SubTalarEversion =0.0; + + //Detail Hand + Finger1 ={ + CMCDeviation=0; + CMCFlexion=0; + MCPFlexion= 0; + MCPDeviation= 0; + DIPFlexion=0; + }; + + Finger2 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger3 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger4 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger5 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + }; + + Left = { + //all values are set to be equal to the right side values + //feel free to change this! + + //Arm + SternoClavicularProtraction=.Right.SternoClavicularProtraction; + SternoClavicularElevation=.Right.SternoClavicularElevation; + SternoClavicularAxialRotation=.Right.SternoClavicularAxialRotation; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion = .Right.GlenohumeralFlexion ; + GlenohumeralAbduction =.Right.GlenohumeralAbduction ; + GlenohumeralExternalRotation =.Right.GlenohumeralExternalRotation ; + + ElbowFlexion = .Right.ElbowFlexion; + ElbowPronation = .Right.ElbowPronation; + + WristFlexion =.Right.WristFlexion; + WristAbduction =.Right.WristAbduction; + + //Leg + HipFlexion =.Right.HipFlexion; + HipAbduction =.Right.HipAbduction; + HipExternalRotation = .Right.HipExternalRotation; + + KneeFlexion = .Right.KneeFlexion; + + AnklePlantarFlexion = .Right.AnklePlantarFlexion ; + SubTalarEversion =.Right.SubTalarEversion; + + //Detail Hand + Finger1 ={ + CMCDeviation=0; + CMCFlexion=0; + MCPFlexion= 0; + MCPDeviation= 0; + DIPFlexion=0; + }; + + Finger2 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger3 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger4 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger5 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + }; + }; + +}; + + + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/RightFootDrivers.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/RightFootDrivers.any new file mode 100644 index 00000000..f368fcb1 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/RightFootDrivers.any @@ -0,0 +1,33 @@ + + + +AnyKinMotion HeelFloorContraintRight = +{ + AnyFunConst Data = { Value = {-0.028, 0, 0.14}; }; + + AnyKinLinear HeelPos = + { + AnyRefFrame &FloorRef = ....Environment.GlobalRef.FloorOffset; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefFrame &HeelRef = ....BodyModel.Right.Leg.Seg.Foot.HeelJoint; + #else + AnyRefFrame &HeelRef = ....BodyModel.Right.Leg.Seg.Foot.HeelContactNodeLow; + #endif + }; +}; + + +// Place the on the ground +AnyKinMotion ToeFloorContraintRight = +{ + AnyFunConst Data = { Value = {0.0}; }; + + AnyKinLinear ToePos = + { + AnyRefFrame &Ground = ....Environment.GlobalRef.FloorOffset; + AnyRefFrame &Ball = ....BodyModel.Right.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1}; // Only y direction +}; + + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/RunAppSequence.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/RunAppSequence.any new file mode 100644 index 00000000..35639705 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/Model/RunAppSequence.any @@ -0,0 +1,24 @@ + // Switch to define an automatic save of results to the Output folder +#ifndef AutoSaveOption +#define AutoSaveOption 0 +#endif + +/**Execute this operation to run the model in the intended operation sequence. +It is also possible to run operations seperately, by manual selections in the operation tree*/ +AnyOperationSequence RunApplication = { + + /*This operation calibrates the muscles in the model if these are of the type AnyMuscleModel3E. + This will just be an empty operation if the model is using a muscle type that does not require calibration.*/ + AnyOperation &CalibrationAnal = Main.HumanModel.Calibration.CalibrationSequence; + + ///This operation is the inverse dynamic analysis + AnyOperation &InvAnal=Main.Study.InverseDynamics; + + #if AutoSaveOption + /// This operation saves the output of the study to an h5 file in the Output folder + AnyOperationMacro save = { + MacroStr={ "classoperation Main.Study.Output " + strquote("Save data") + " --type=Deep" + " --file="+ strquote(ANYBODY_PATH_OUTPUT + ANYBODY_NAME_MAINFILE + ".anydata.h5")}; + }; + #endif +}; + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/NewModel.main.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/NewModel.main.any new file mode 100644 index 00000000..d1c00cfd --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/NewModel.main.any @@ -0,0 +1,74 @@ +#include "libdef.any" + +Main = { + // BodyModel configuration: + // Specify which limb segments to include, the type of muscles, joints, scaling etc + #include "Model/BodyModelConfiguration.any" + + // Include the Human model from AMMR + #include "/HumanModel.any" + + +//# BEGIN SNIPPET 1 +// Define desired posture or movement of the model +#include "Model/Mannequin.any" +//# END SNIPPET 1 + + // Compose the model used by the study + AnyFolder Model = + { + // Center of Mass (COM) position in the ground YZ plane + // COM balance driver can be excluded with: + // #define EXCLUDE_COM_BALANCE_DRIVERS + AnyVector CenterOfMassXZ = {0,0}; + + // Positioning of the right and left feet. + // Ground-foot constraints can be excluded with: + // #define EXCLUDE_FOOT_CONSTRAINTS + Environment.GlobalRef.RightFootPrint = { + AnyVec3 HeelPosition = {-0.08, 0, 0.14}; + AnyVec3 ToeDirection = {1, 0, 0.1}; + }; + Environment.GlobalRef.LeftFootPrint = { + AnyVec3 HeelPosition = {-0.08, 0, -0.14}; + AnyVec3 ToeDirection = {1, 0, -0.1}; + }; + + // Include the body part of the Human model + AnyFolder &BodyModel = .HumanModel.BodyModel; + + // Include the default mannequin drivers + AnyFolder &DefaultMannequinDrivers = .HumanModel.DefaultMannequinDrivers; + + // Environment files are used to include objects surrounding human, + // e.g. global reference frame + #include "Model/Environment.any" + + AnyFolder ModelEnvironmentConnection = + { + // This file contains all contraints to simulate the standing human + #include "Model/JointsAndDrivers.any" + + // Ground reaction force prediction + #include "Model/GRFPrediction.any" + }; + }; + // Define Study for running kinematics and inverse dynamics simulation analyses + AnyBodyStudy Study = + { + // Include the Model within the Study + AnyFolder &Model = .Model; + + Gravity={0.0, -9.81, 0.0}; + nStep = 11; + + // Overdeterminate solver is needed while using the + // soft default mannequin drivers. + Kinematics.SolverType = KinSolOverDeterminate; + InitialConditions.SolverType = Kinematics.SolverType ; + }; + // This is readymade simulation package including some pre-processing steps and the InverseDynamics analysis + #include "Model/RunAppSequence.any" + +}; //Main + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/libdef.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/libdef.any new file mode 100644 index 00000000..6c6db036 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-1/libdef.any @@ -0,0 +1,9 @@ +#include "../libdef.any" + +#if AMMR_VERSION_MAJOR < 2 | (AMMR_VERSION_MAJOR <= 2 & AMMR_VERSION_MINOR < 3) + +Main = { +ERROR "Wrong AMMR version. Please modify libdef.any to point to the correct AMMR (>=2.2)" +}; +#endif + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/BodyModelConfiguration.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/BodyModelConfiguration.any new file mode 100644 index 00000000..7b294435 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/BodyModelConfiguration.any @@ -0,0 +1,15 @@ +#path __BM_PLUGIN_FILE__ "BodyModelConfiguration.any" +#define BM_CONFIG_PLUGIN __BM_PLUGIN_FILE__ + +// ----------------------------------------------------------------------------------- +// The BodyModel configuration can be modified using BodyModel GUI plugin +// or by manually editing this file. +// +// Please see this this file for more information on the options: +// #path HTML_DOC "/bm_config/index.html" +// ----------------------------------------------------------------------------------- + +#define BM_MANNEQUIN_DRIVER_DEFAULT ON + +// Enable the TLEM2 lower extremity model +#define BM_LEG_MODEL _LEG_MODEL_TLEM2_ \ No newline at end of file diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/DrawSettings.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/DrawSettings.any new file mode 100644 index 00000000..1cb0aa9c --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/DrawSettings.any @@ -0,0 +1,149 @@ + +DrawSettings ={ + + + //This is the color definitions of the nodes and segments + Colors = { + AnyBodyRed = {149/256,51/256,55/256}; //AnyBody standard red + AnyBodyGreen = {47/256,131/256,80/256}; //AnyBody standard green + AnyBodyBlue = {82/256,85/256,111/256}; //AnyBody standard blue + AnyBodyYellow= {235/256,197/256,17/256}; //AnyBody standard yellow + AnyBodyPaleYellow = {248/256,204/256,115/256}; //AnyBody standard pale yellow +AnyBodyGrey = {153/256,153/256,153/256}; //AnyBody standard grey + + Nodes = AnyBodyPaleYellow; + Segments = AnyBodyPaleYellow; +}; + + Muscle ={ + RGB = .Colors.AnyBodyRed; + Visible =On; + DrawScaleOnOff =Off; + Bulging =0.0; + ColorScale =1.0; + RGBColorScale = {0.957031, 0.785156, 0.785156}; + MaxStress = 2500000.000000; //N/m^2 //This number is for graphics only! + Opacity =1.0; + DrawScale = + { + EnableCreasing = Off; + CreasingAngle = 0.524; + EnableWireframe = Off; + EnableSmoothing = On; + Param = 0.0; + ParamArray = {0.0, 0.167, 0.333, 0.5, 0.667, 0.833, 1.0}; + RGBArray = {{0.0, 0.0, 0.6}, {0.0, 0.0, 1.0}, {0.0, 1.0, 1.0}, {0.0, 1.0, 0.0}, {1.0, 1.0, 0.0}, {1.0, 0.0, 0.0}, {0.6, 0.0, 0.0}}; + OpacityArray = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}; + }; + }; + + + BonesOpacity ={ + + GlobalCoef = 1; + + Skull = 1*GlobalCoef; + Thorax = 1*GlobalCoef; + Pelvis = 1*GlobalCoef; + Sacrum = 1*GlobalCoef; + L5 = 1*GlobalCoef; + L4 = 1*GlobalCoef; + L3 = 1*GlobalCoef; + L2 = 1*GlobalCoef; + L1 = 1*GlobalCoef; + + RightFoot = 1*GlobalCoef; + RightShank = 1*GlobalCoef; + RightThigh = 1*GlobalCoef; + + LeftFoot = 1*GlobalCoef; + LeftShank = 1*GlobalCoef; + LeftThigh = 1*GlobalCoef; + + + RightClavicula = 1*GlobalCoef; + RightScapula = 1*GlobalCoef; + RightHumerus = 1*GlobalCoef; + RightUlna = 1*GlobalCoef; + RightRadius = 1*GlobalCoef; + RightHand = 1*GlobalCoef; + + LeftClavicula = 1*GlobalCoef; + LeftScapula = 1*GlobalCoef; + LeftHumerus = 1*GlobalCoef; + LeftUlna = 1*GlobalCoef; + LeftRadius = 1*GlobalCoef; + LeftHand = 1*GlobalCoef; + + + // For leg TD only. + RightTalus = 1*GlobalCoef; + RightPatella = 1*GlobalCoef; + + LeftTalus = 1*GlobalCoef; + LeftPatella = 1*GlobalCoef; + + + // For detailed cervical model only. + C1 = 1*GlobalCoef; + C2 = 1*GlobalCoef; + C3 = 1*GlobalCoef; + C4 = 1*GlobalCoef; + C5 = 1*GlobalCoef; + C6 = 1*GlobalCoef; + C7 = 1*GlobalCoef; + }; + + + + SegmentAxes ={ + RGB ={0,0,1}; + ScaleXYZ ={0.0001,0.00001,0.00001}; + }; + BML ={ + ScaleXYZ ={0.0006,0.0006,0.0006}; + RGB = .Colors.AnyBodyBlue; + }; + JointAxesProximal = { + RGB = .Colors.AnyBodyRed; + ScaleXYZ = {0.015,0.015,0.015}; + }; + JointAxesDistal = { + RGB = .Colors.AnyBodyGreen; + ScaleXYZ = {0.01,0.01,0.01}; + }; + + + SegmentNodes ={ + ScaleXYZ ={0.0005,0.0005,0.0005}; + RGB = .Colors.AnyBodyRed; + }; + WrapGeometry ={ + RGB ={1,1,1}; + }; + + DrawSettingsSupport={ + Lin={ + ScaleFactor=0.004; + RGB = {0,0,1}; + Thickness = 0.004; + HeadThickness = 2*Thickness; + HeadLength = 3*Thickness; + }; + Rot={ + ScaleFactor=0.08; + RGB = {1,0,0}; + Thickness = 0.075; + HeadThickness = 2*Thickness; + HeadLength = 5*Thickness; + }; + }; + + + Marker={ + Color={0,0,1}; + Radius=0.00; + + }; + +}; //DrawSettings \ No newline at end of file diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/Environment.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/Environment.any new file mode 100644 index 00000000..2402d1e6 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/Environment.any @@ -0,0 +1,25 @@ +AnyFolder Environment = { + //^ Environment files are used to include objects surrounding human, + //^ e.g. global reference frame + + AnyFixedRefFrame GlobalRef = + { + AnyDrawRefFrame drw={ScaleXYZ=0.3*{1,1,1};}; + + AnyRefNode RightFootPrint = { + //^ Positioning of the right foot. + //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS + sRel = HeelPosition; + ARel = RotMat({0,0,0}, ToeDirection, {0,10,0}); + AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};}; + }; + + AnyRefNode LeftFootPrint = { + //^ Positioning of the right foot. + //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS + sRel = HeelPosition; + ARel = RotMat({0,0,0}, ToeDirection, {0,10,0}); + AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};}; + }; + }; +}; \ No newline at end of file diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/GRFPrediction.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/GRFPrediction.any new file mode 100644 index 00000000..880f4312 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/GRFPrediction.any @@ -0,0 +1,47 @@ + + //-------- GRFPrediction for the right leg + // See: #include "/Tools/GRFPrediction/FootPlateConditionalContact.any" + FootPlateConditionalContact GRF_Prediction_Right( + NORMAL_DIRECTION = "Y", + NUMBER_OF_NODES = 25, + NODES_FOLDER = FootNodes, + PLATE_BASE_FRAME = Main.Model.Environment.GlobalRef, + GLOBAL_REF = Main.Model.Environment.GlobalRef, + SHOW_TRIGGER_VOLUME = ON + ) = + { + CreateFootContactNodes25 FootNodes( + foot_ref=Main.HumanModel.BodyModel.Right.Leg.Seg.Foot + ) = {}; + + // Additional force plate settings + Settings = + { + LimitDistHigh = 0.025; // Vertical height + FrictionCoefficient = 0.8; + }; + }; + + + //-------- GRFPrediction for the right leg + // See: #include "/Tools/GRFPrediction/FootPlateConditionalContact.any" + FootPlateConditionalContact GRF_Prediction_Left( + NORMAL_DIRECTION = "Y", + NUMBER_OF_NODES = 25, + NODES_FOLDER = FootNodes, + PLATE_BASE_FRAME = Main.Model.Environment.GlobalRef, + GLOBAL_REF = Main.Model.Environment.GlobalRef, + SHOW_TRIGGER_VOLUME = ON + ) = + { + CreateFootContactNodes25 FootNodes( + foot_ref=Main.HumanModel.BodyModel.Left.Leg.Seg.Foot + ) = {}; + + Settings = + { + LimitDistHigh = 0.025; + FrictionCoefficient = 0.8; + }; + }; + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/JointsAndDrivers.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/JointsAndDrivers.any new file mode 100644 index 00000000..f538a299 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/JointsAndDrivers.any @@ -0,0 +1,82 @@ + +// Center of Mass drivers can be excluded +// by setting #define EXCLUDE_COM_BALANCE_DRIVERS +#ifndef EXCLUDE_COM_BALANCE_DRIVERS + + //Constraint the collective CoM to be right above the GlobalRef + AnyKinDriver CenterOfMassDriver = { + AnyKinMeasure& CoM = ..BodyModel.Interface.CenterOfMass; + AnyFunConst Position = { + Value = Main.Model.CenterOfMassXZ; + }; + MeasureOrganizer = {0,2}; // Only the x and z directions + Reaction.Type = {Off,Off}; + + }; + // Ankles are assigned a lower weight so most of the + // center of mass balancing will happen at the ankle joint. + Main.Model.DefaultMannequinDrivers.DefaultWeakDriverWeight = 0.01; + Main.Model.DefaultMannequinDrivers.AnkleDriverLeftFlexion.WeakDriverWeight = 0.001; + Main.Model.DefaultMannequinDrivers.AnkleDriverRightFlexion.WeakDriverWeight = 0.001; + +#endif + + + +// Foot driver constraints can be excluded +// by setting #define EXCLUDE_FOOT_CONSTRAINTS +#ifndef EXCLUDE_FOOT_CONSTRAINTS + + // Default drivers for the pelvis position is set to zero + // since foot drivers determine the position of the model + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosX.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosY.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosZ.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotX.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotY.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotZ.WeakDriverWeight = 0; + + + AnyFolder Right = + { + AnyKinEq HeelFloorContraint = { + AnyKinLinear HeelMeasure = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.RightFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.HeelContactNodeLow; + }; + Reaction.Type = {Off,Off,Off}; + }; + + AnyKinEq ToeDirectionContraint = + { + AnyKinLinear ToeDirection = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.RightFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1,2}; // Only y,z direction + Reaction.Type = {Off,Off}; + }; + }; + + AnyFolder Left = + { + AnyKinEq HeelFloorContraint = { + AnyKinLinear HeelMeasure = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.LeftFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Left.Leg.Seg.Foot.HeelContactNodeLow; + }; + Reaction.Type = {Off,Off,Off}; + }; + + AnyKinEq ToeDirectionContraint = + { + AnyKinLinear ToeDirection = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.LeftFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Left.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1,2}; // Only y,z direction + Reaction.Type = {Off,Off}; + }; + }; + +#endif diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/LeftFootDrivers.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/LeftFootDrivers.any new file mode 100644 index 00000000..2416b182 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/LeftFootDrivers.any @@ -0,0 +1,62 @@ +// AnyReacForce LeftFootReaction = { +// +// AnyKinLinear LeftFootLinMeasure = { +// AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot; +// AnyFixedRefFrame &ref2 = ....Environment.GlobalRef; +// }; +// AnyKinRotational LeftFootRotMeasure = { +// AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot; +// AnyFixedRefFrame &ref2 = ....Environment.GlobalRef; +// Type = RotVector; +// +// }; +// }; + + + + // Place the Left toe and heel on the ground + AnyKinEqSimpleDriver LToeGroundConstraint ={ + AnyKinLinear ToePos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1}; // Only the y coordinate + DriverPos = {0.0}; + DriverVel = {0}; + Reaction.Type = {Off}; // Provide ground reaction forces + + }; + + AnyKinEqSimpleDriver LHeelGroundConstraint ={ + AnyKinLinear HeelPos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.HeelJoint; + #else + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.HeelContactNodeLow; + #endif + }; + MeasureOrganizer = {1}; // Only the y coordinate + DriverPos = {0.0}; + DriverVel = {0}; + Reaction.Type = {Off}; // Provide ground reaction forces + }; + + + // Position the Ankles Left above the z axis + AnyKinEqSimpleDriver LAnkleX = { + AnyKinLinear AnklePos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefNode &Ankle = ....BodyModel.Left.Leg.Seg.Foot.AnkleJoint; + #else + AnyRefNode &Ankle = ....BodyModel.Left.Leg.Seg.Foot.SubTalarJoint; + #endif + }; + MeasureOrganizer = {0}; // Only the x coordinate + DriverPos = {0.0}; + DriverVel = {0.0}; + Reaction.Type = {Off}; + }; + + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/Mannequin.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/Mannequin.any new file mode 100644 index 00000000..5e988ef5 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/Mannequin.any @@ -0,0 +1,18 @@ +//# BEGIN SNIPPET 1 +// Default mannequin position values +HumanModel.Mannequin = { + Posture = { + Right = { + }; + Left = { + }; + }; + + PostureVel= { + Right = { + }; + Left = { + }; + }; +}; +//# END SNIPPET 1 \ No newline at end of file diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/RightFootDrivers.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/RightFootDrivers.any new file mode 100644 index 00000000..f368fcb1 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/RightFootDrivers.any @@ -0,0 +1,33 @@ + + + +AnyKinMotion HeelFloorContraintRight = +{ + AnyFunConst Data = { Value = {-0.028, 0, 0.14}; }; + + AnyKinLinear HeelPos = + { + AnyRefFrame &FloorRef = ....Environment.GlobalRef.FloorOffset; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefFrame &HeelRef = ....BodyModel.Right.Leg.Seg.Foot.HeelJoint; + #else + AnyRefFrame &HeelRef = ....BodyModel.Right.Leg.Seg.Foot.HeelContactNodeLow; + #endif + }; +}; + + +// Place the on the ground +AnyKinMotion ToeFloorContraintRight = +{ + AnyFunConst Data = { Value = {0.0}; }; + + AnyKinLinear ToePos = + { + AnyRefFrame &Ground = ....Environment.GlobalRef.FloorOffset; + AnyRefFrame &Ball = ....BodyModel.Right.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1}; // Only y direction +}; + + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/RunAppSequence.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/RunAppSequence.any new file mode 100644 index 00000000..35639705 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/Model/RunAppSequence.any @@ -0,0 +1,24 @@ + // Switch to define an automatic save of results to the Output folder +#ifndef AutoSaveOption +#define AutoSaveOption 0 +#endif + +/**Execute this operation to run the model in the intended operation sequence. +It is also possible to run operations seperately, by manual selections in the operation tree*/ +AnyOperationSequence RunApplication = { + + /*This operation calibrates the muscles in the model if these are of the type AnyMuscleModel3E. + This will just be an empty operation if the model is using a muscle type that does not require calibration.*/ + AnyOperation &CalibrationAnal = Main.HumanModel.Calibration.CalibrationSequence; + + ///This operation is the inverse dynamic analysis + AnyOperation &InvAnal=Main.Study.InverseDynamics; + + #if AutoSaveOption + /// This operation saves the output of the study to an h5 file in the Output folder + AnyOperationMacro save = { + MacroStr={ "classoperation Main.Study.Output " + strquote("Save data") + " --type=Deep" + " --file="+ strquote(ANYBODY_PATH_OUTPUT + ANYBODY_NAME_MAINFILE + ".anydata.h5")}; + }; + #endif +}; + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/NewModel.main.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/NewModel.main.any new file mode 100644 index 00000000..ebc1f99c --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/NewModel.main.any @@ -0,0 +1,71 @@ +#include "libdef.any" + +Main = { + // BodyModel configuration: + // Specify which limb segments to include, the type of muscles, joints, scaling etc + #include "Model/BodyModelConfiguration.any" + + // Include the Human model from AMMR + #include "/HumanModel.any" + + // Define desired posture or movement of the model + #include "Model/Mannequin.any" + + // Compose the model used by the study + AnyFolder Model = + { + // Center of Mass (COM) position in the ground YZ plane + // COM balance driver can be excluded with: + // #define EXCLUDE_COM_BALANCE_DRIVERS + AnyVector CenterOfMassXZ = {0,0}; + + // Positioning of the right and left feet. + // Ground-foot constraints can be excluded with: + // #define EXCLUDE_FOOT_CONSTRAINTS + Environment.GlobalRef.RightFootPrint = { + AnyVec3 HeelPosition = {-0.08, 0, 0.14}; + AnyVec3 ToeDirection = {1, 0, 0.1}; + }; + Environment.GlobalRef.LeftFootPrint = { + AnyVec3 HeelPosition = {-0.08, 0, -0.14}; + AnyVec3 ToeDirection = {1, 0, -0.1}; + }; + + // Include the body part of the Human model + AnyFolder &BodyModel = .HumanModel.BodyModel; + + // Include the default mannequin drivers + AnyFolder &DefaultMannequinDrivers = .HumanModel.DefaultMannequinDrivers; + + // Environment files are used to include objects surrounding human, + // e.g. global reference frame + #include "Model/Environment.any" + + AnyFolder ModelEnvironmentConnection = + { + // This file contains all contraints to simulate the standing human + #include "Model/JointsAndDrivers.any" + + // Ground reaction force prediction + #include "Model/GRFPrediction.any" + }; + }; + // Define Study for running kinematics and inverse dynamics simulation analyses + AnyBodyStudy Study = + { + // Include the Model within the Study + AnyFolder &Model = .Model; + + Gravity={0.0, -9.81, 0.0}; + nStep = 11; + + // Overdeterminate solver is needed while using the + // soft default mannequin drivers. + Kinematics.SolverType = KinSolOverDeterminate; + InitialConditions.SolverType = Kinematics.SolverType ; + }; + // This is readymade simulation package including some pre-processing steps and the InverseDynamics analysis + #include "Model/RunAppSequence.any" + +}; //Main + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/libdef.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/libdef.any new file mode 100644 index 00000000..6c6db036 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-2/libdef.any @@ -0,0 +1,9 @@ +#include "../libdef.any" + +#if AMMR_VERSION_MAJOR < 2 | (AMMR_VERSION_MAJOR <= 2 & AMMR_VERSION_MINOR < 3) + +Main = { +ERROR "Wrong AMMR version. Please modify libdef.any to point to the correct AMMR (>=2.2)" +}; +#endif + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/BodyModelConfiguration.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/BodyModelConfiguration.any new file mode 100644 index 00000000..7b294435 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/BodyModelConfiguration.any @@ -0,0 +1,15 @@ +#path __BM_PLUGIN_FILE__ "BodyModelConfiguration.any" +#define BM_CONFIG_PLUGIN __BM_PLUGIN_FILE__ + +// ----------------------------------------------------------------------------------- +// The BodyModel configuration can be modified using BodyModel GUI plugin +// or by manually editing this file. +// +// Please see this this file for more information on the options: +// #path HTML_DOC "/bm_config/index.html" +// ----------------------------------------------------------------------------------- + +#define BM_MANNEQUIN_DRIVER_DEFAULT ON + +// Enable the TLEM2 lower extremity model +#define BM_LEG_MODEL _LEG_MODEL_TLEM2_ \ No newline at end of file diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/DrawSettings.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/DrawSettings.any new file mode 100644 index 00000000..1cb0aa9c --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/DrawSettings.any @@ -0,0 +1,149 @@ + +DrawSettings ={ + + + //This is the color definitions of the nodes and segments + Colors = { + AnyBodyRed = {149/256,51/256,55/256}; //AnyBody standard red + AnyBodyGreen = {47/256,131/256,80/256}; //AnyBody standard green + AnyBodyBlue = {82/256,85/256,111/256}; //AnyBody standard blue + AnyBodyYellow= {235/256,197/256,17/256}; //AnyBody standard yellow + AnyBodyPaleYellow = {248/256,204/256,115/256}; //AnyBody standard pale yellow +AnyBodyGrey = {153/256,153/256,153/256}; //AnyBody standard grey + + Nodes = AnyBodyPaleYellow; + Segments = AnyBodyPaleYellow; +}; + + Muscle ={ + RGB = .Colors.AnyBodyRed; + Visible =On; + DrawScaleOnOff =Off; + Bulging =0.0; + ColorScale =1.0; + RGBColorScale = {0.957031, 0.785156, 0.785156}; + MaxStress = 2500000.000000; //N/m^2 //This number is for graphics only! + Opacity =1.0; + DrawScale = + { + EnableCreasing = Off; + CreasingAngle = 0.524; + EnableWireframe = Off; + EnableSmoothing = On; + Param = 0.0; + ParamArray = {0.0, 0.167, 0.333, 0.5, 0.667, 0.833, 1.0}; + RGBArray = {{0.0, 0.0, 0.6}, {0.0, 0.0, 1.0}, {0.0, 1.0, 1.0}, {0.0, 1.0, 0.0}, {1.0, 1.0, 0.0}, {1.0, 0.0, 0.0}, {0.6, 0.0, 0.0}}; + OpacityArray = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}; + }; + }; + + + BonesOpacity ={ + + GlobalCoef = 1; + + Skull = 1*GlobalCoef; + Thorax = 1*GlobalCoef; + Pelvis = 1*GlobalCoef; + Sacrum = 1*GlobalCoef; + L5 = 1*GlobalCoef; + L4 = 1*GlobalCoef; + L3 = 1*GlobalCoef; + L2 = 1*GlobalCoef; + L1 = 1*GlobalCoef; + + RightFoot = 1*GlobalCoef; + RightShank = 1*GlobalCoef; + RightThigh = 1*GlobalCoef; + + LeftFoot = 1*GlobalCoef; + LeftShank = 1*GlobalCoef; + LeftThigh = 1*GlobalCoef; + + + RightClavicula = 1*GlobalCoef; + RightScapula = 1*GlobalCoef; + RightHumerus = 1*GlobalCoef; + RightUlna = 1*GlobalCoef; + RightRadius = 1*GlobalCoef; + RightHand = 1*GlobalCoef; + + LeftClavicula = 1*GlobalCoef; + LeftScapula = 1*GlobalCoef; + LeftHumerus = 1*GlobalCoef; + LeftUlna = 1*GlobalCoef; + LeftRadius = 1*GlobalCoef; + LeftHand = 1*GlobalCoef; + + + // For leg TD only. + RightTalus = 1*GlobalCoef; + RightPatella = 1*GlobalCoef; + + LeftTalus = 1*GlobalCoef; + LeftPatella = 1*GlobalCoef; + + + // For detailed cervical model only. + C1 = 1*GlobalCoef; + C2 = 1*GlobalCoef; + C3 = 1*GlobalCoef; + C4 = 1*GlobalCoef; + C5 = 1*GlobalCoef; + C6 = 1*GlobalCoef; + C7 = 1*GlobalCoef; + }; + + + + SegmentAxes ={ + RGB ={0,0,1}; + ScaleXYZ ={0.0001,0.00001,0.00001}; + }; + BML ={ + ScaleXYZ ={0.0006,0.0006,0.0006}; + RGB = .Colors.AnyBodyBlue; + }; + JointAxesProximal = { + RGB = .Colors.AnyBodyRed; + ScaleXYZ = {0.015,0.015,0.015}; + }; + JointAxesDistal = { + RGB = .Colors.AnyBodyGreen; + ScaleXYZ = {0.01,0.01,0.01}; + }; + + + SegmentNodes ={ + ScaleXYZ ={0.0005,0.0005,0.0005}; + RGB = .Colors.AnyBodyRed; + }; + WrapGeometry ={ + RGB ={1,1,1}; + }; + + DrawSettingsSupport={ + Lin={ + ScaleFactor=0.004; + RGB = {0,0,1}; + Thickness = 0.004; + HeadThickness = 2*Thickness; + HeadLength = 3*Thickness; + }; + Rot={ + ScaleFactor=0.08; + RGB = {1,0,0}; + Thickness = 0.075; + HeadThickness = 2*Thickness; + HeadLength = 5*Thickness; + }; + }; + + + Marker={ + Color={0,0,1}; + Radius=0.00; + + }; + +}; //DrawSettings \ No newline at end of file diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/Environment.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/Environment.any new file mode 100644 index 00000000..2402d1e6 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/Environment.any @@ -0,0 +1,25 @@ +AnyFolder Environment = { + //^ Environment files are used to include objects surrounding human, + //^ e.g. global reference frame + + AnyFixedRefFrame GlobalRef = + { + AnyDrawRefFrame drw={ScaleXYZ=0.3*{1,1,1};}; + + AnyRefNode RightFootPrint = { + //^ Positioning of the right foot. + //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS + sRel = HeelPosition; + ARel = RotMat({0,0,0}, ToeDirection, {0,10,0}); + AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};}; + }; + + AnyRefNode LeftFootPrint = { + //^ Positioning of the right foot. + //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS + sRel = HeelPosition; + ARel = RotMat({0,0,0}, ToeDirection, {0,10,0}); + AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};}; + }; + }; +}; \ No newline at end of file diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/GRFPrediction.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/GRFPrediction.any new file mode 100644 index 00000000..880f4312 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/GRFPrediction.any @@ -0,0 +1,47 @@ + + //-------- GRFPrediction for the right leg + // See: #include "/Tools/GRFPrediction/FootPlateConditionalContact.any" + FootPlateConditionalContact GRF_Prediction_Right( + NORMAL_DIRECTION = "Y", + NUMBER_OF_NODES = 25, + NODES_FOLDER = FootNodes, + PLATE_BASE_FRAME = Main.Model.Environment.GlobalRef, + GLOBAL_REF = Main.Model.Environment.GlobalRef, + SHOW_TRIGGER_VOLUME = ON + ) = + { + CreateFootContactNodes25 FootNodes( + foot_ref=Main.HumanModel.BodyModel.Right.Leg.Seg.Foot + ) = {}; + + // Additional force plate settings + Settings = + { + LimitDistHigh = 0.025; // Vertical height + FrictionCoefficient = 0.8; + }; + }; + + + //-------- GRFPrediction for the right leg + // See: #include "/Tools/GRFPrediction/FootPlateConditionalContact.any" + FootPlateConditionalContact GRF_Prediction_Left( + NORMAL_DIRECTION = "Y", + NUMBER_OF_NODES = 25, + NODES_FOLDER = FootNodes, + PLATE_BASE_FRAME = Main.Model.Environment.GlobalRef, + GLOBAL_REF = Main.Model.Environment.GlobalRef, + SHOW_TRIGGER_VOLUME = ON + ) = + { + CreateFootContactNodes25 FootNodes( + foot_ref=Main.HumanModel.BodyModel.Left.Leg.Seg.Foot + ) = {}; + + Settings = + { + LimitDistHigh = 0.025; + FrictionCoefficient = 0.8; + }; + }; + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/JointsAndDrivers.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/JointsAndDrivers.any new file mode 100644 index 00000000..f538a299 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/JointsAndDrivers.any @@ -0,0 +1,82 @@ + +// Center of Mass drivers can be excluded +// by setting #define EXCLUDE_COM_BALANCE_DRIVERS +#ifndef EXCLUDE_COM_BALANCE_DRIVERS + + //Constraint the collective CoM to be right above the GlobalRef + AnyKinDriver CenterOfMassDriver = { + AnyKinMeasure& CoM = ..BodyModel.Interface.CenterOfMass; + AnyFunConst Position = { + Value = Main.Model.CenterOfMassXZ; + }; + MeasureOrganizer = {0,2}; // Only the x and z directions + Reaction.Type = {Off,Off}; + + }; + // Ankles are assigned a lower weight so most of the + // center of mass balancing will happen at the ankle joint. + Main.Model.DefaultMannequinDrivers.DefaultWeakDriverWeight = 0.01; + Main.Model.DefaultMannequinDrivers.AnkleDriverLeftFlexion.WeakDriverWeight = 0.001; + Main.Model.DefaultMannequinDrivers.AnkleDriverRightFlexion.WeakDriverWeight = 0.001; + +#endif + + + +// Foot driver constraints can be excluded +// by setting #define EXCLUDE_FOOT_CONSTRAINTS +#ifndef EXCLUDE_FOOT_CONSTRAINTS + + // Default drivers for the pelvis position is set to zero + // since foot drivers determine the position of the model + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosX.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosY.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosZ.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotX.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotY.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotZ.WeakDriverWeight = 0; + + + AnyFolder Right = + { + AnyKinEq HeelFloorContraint = { + AnyKinLinear HeelMeasure = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.RightFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.HeelContactNodeLow; + }; + Reaction.Type = {Off,Off,Off}; + }; + + AnyKinEq ToeDirectionContraint = + { + AnyKinLinear ToeDirection = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.RightFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1,2}; // Only y,z direction + Reaction.Type = {Off,Off}; + }; + }; + + AnyFolder Left = + { + AnyKinEq HeelFloorContraint = { + AnyKinLinear HeelMeasure = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.LeftFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Left.Leg.Seg.Foot.HeelContactNodeLow; + }; + Reaction.Type = {Off,Off,Off}; + }; + + AnyKinEq ToeDirectionContraint = + { + AnyKinLinear ToeDirection = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.LeftFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Left.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1,2}; // Only y,z direction + Reaction.Type = {Off,Off}; + }; + }; + +#endif diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/LeftFootDrivers.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/LeftFootDrivers.any new file mode 100644 index 00000000..2416b182 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/LeftFootDrivers.any @@ -0,0 +1,62 @@ +// AnyReacForce LeftFootReaction = { +// +// AnyKinLinear LeftFootLinMeasure = { +// AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot; +// AnyFixedRefFrame &ref2 = ....Environment.GlobalRef; +// }; +// AnyKinRotational LeftFootRotMeasure = { +// AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot; +// AnyFixedRefFrame &ref2 = ....Environment.GlobalRef; +// Type = RotVector; +// +// }; +// }; + + + + // Place the Left toe and heel on the ground + AnyKinEqSimpleDriver LToeGroundConstraint ={ + AnyKinLinear ToePos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1}; // Only the y coordinate + DriverPos = {0.0}; + DriverVel = {0}; + Reaction.Type = {Off}; // Provide ground reaction forces + + }; + + AnyKinEqSimpleDriver LHeelGroundConstraint ={ + AnyKinLinear HeelPos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.HeelJoint; + #else + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.HeelContactNodeLow; + #endif + }; + MeasureOrganizer = {1}; // Only the y coordinate + DriverPos = {0.0}; + DriverVel = {0}; + Reaction.Type = {Off}; // Provide ground reaction forces + }; + + + // Position the Ankles Left above the z axis + AnyKinEqSimpleDriver LAnkleX = { + AnyKinLinear AnklePos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefNode &Ankle = ....BodyModel.Left.Leg.Seg.Foot.AnkleJoint; + #else + AnyRefNode &Ankle = ....BodyModel.Left.Leg.Seg.Foot.SubTalarJoint; + #endif + }; + MeasureOrganizer = {0}; // Only the x coordinate + DriverPos = {0.0}; + DriverVel = {0.0}; + Reaction.Type = {Off}; + }; + + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/Mannequin.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/Mannequin.any new file mode 100644 index 00000000..501701ea --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/Mannequin.any @@ -0,0 +1,298 @@ +// Default mannequin position values + +HumanModel.Mannequin = { + + Posture = { + //This controls the position of the pelvis with respect to (wrt.) to the global reference frame + PelvisPosX=0.0502; + PelvisPosY=0.969; + PelvisPosZ=0; + + //This controls the rotation of the pelvis wrt. to the global reference frame + PelvisRotX=0; + PelvisRotY=0; + PelvisRotZ=-3; + + // These variables control the rotation of the thorax wrt. the + // pelvis + PelvisThoraxExtension=0; + PelvisThoraxLateralBending=0; + PelvisThoraxRotation=0; + + NeckExtension=0; + NeckLateralBending=0; // not used when neck is switched off + NeckRotation=0; // not used when neck is switched off + +//# BEGIN SNIPPET 1 +Right = { + //Arm + SternoClavicularProtraction=-23; //This value is not used for initial position + SternoClavicularElevation=11.5; //This value is not used for initial position + SternoClavicularAxialRotation=-20; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion =-0; + GlenohumeralAbduction = 4; + GlenohumeralExternalRotation = 2; + + ElbowFlexion = 0.01; + ElbowPronation = -20.0; + + WristFlexion =0; + WristAbduction =0; + + //Leg + HipFlexion = 0.0; + HipAbduction = 5.0; + HipExternalRotation = 0.0; + + KneeFlexion = 4.0; + + AnklePlantarFlexion =0.0; + SubTalarEversion =0.0; +//# END SNIPPET 1 + + //Detail Hand + Finger1 ={ + CMCDeviation=20; + CMCFlexion=20; + MCPFlexion= 10; + MCPDeviation=0; + DIPFlexion=0; + }; + + Finger2 ={ + MCPFlexion=10; + PIPFlexion=20; + DIPFlexion=20; + }; + + Finger3 ={ + MCPFlexion=10; + PIPFlexion=20; + DIPFlexion=20; + }; + + Finger4 ={ + MCPFlexion=10; + PIPFlexion=20; + DIPFlexion=20; + }; + + Finger5 ={ + MCPFlexion=10; + PIPFlexion=20; + DIPFlexion=20; + }; + }; + + Left = { + //all positions are set to be equal to the right side values + //feel free to change this! + + //Arm + SternoClavicularProtraction=.Right.SternoClavicularProtraction; + SternoClavicularElevation=.Right.SternoClavicularElevation; + SternoClavicularAxialRotation=.Right.SternoClavicularAxialRotation; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion = .Right.GlenohumeralFlexion ; + GlenohumeralAbduction =.Right.GlenohumeralAbduction ; + GlenohumeralExternalRotation =.Right.GlenohumeralExternalRotation ; + + ElbowFlexion = .Right.ElbowFlexion; + ElbowPronation = .Right.ElbowPronation; + + WristFlexion =.Right.WristFlexion; + WristAbduction =.Right.WristAbduction; + + //Leg + HipFlexion =.Right.HipFlexion; + HipAbduction =.Right.HipAbduction; + HipExternalRotation = .Right.HipExternalRotation; + + KneeFlexion = .Right.KneeFlexion; + + AnklePlantarFlexion = .Right.AnklePlantarFlexion ; + SubTalarEversion =.Right.SubTalarEversion; + + //Detail Hand + Finger1 ={ + CMCDeviation= ..Right.Finger1.CMCDeviation; + CMCFlexion= ..Right.Finger1.CMCFlexion; + MCPFlexion= ..Right.Finger1.MCPFlexion; + MCPDeviation= ..Right.Finger1.MCPDeviation; + DIPFlexion= ..Right.Finger1.DIPFlexion; + }; + + Finger2 ={ + MCPFlexion= ..Right.Finger2.MCPFlexion; + PIPFlexion= ..Right.Finger2.PIPFlexion; + DIPFlexion= ..Right.Finger2.DIPFlexion; + }; + + Finger3 ={ + MCPFlexion= ..Right.Finger3.MCPFlexion; + PIPFlexion= ..Right.Finger3.PIPFlexion; + DIPFlexion= ..Right.Finger3.DIPFlexion; + }; + + Finger4 ={ + MCPFlexion= ..Right.Finger4.MCPFlexion; + PIPFlexion= ..Right.Finger4.PIPFlexion; + DIPFlexion= ..Right.Finger4.DIPFlexion; + }; + + Finger5 ={ + MCPFlexion= ..Right.Finger5.MCPFlexion; + PIPFlexion= ..Right.Finger5.PIPFlexion; + DIPFlexion= ..Right.Finger5.DIPFlexion; + }; + }; + }; + + PostureVel={ + //This controls the position of the pelvis wrt. to the global reference frame + PelvisPosX=0; + PelvisPosY=0; + PelvisPosZ=0; + + //This controls the rotation of the pelvis wrt. to the global reference frame + PelvisRotX=0; + PelvisRotY=0; + PelvisRotZ=0; + + // These variables control the rotation of the thorax wrt. the + // pelvis + PelvisThoraxExtension=0; + PelvisThoraxLateralBending=0; + PelvisThoraxRotation=0; + + NeckExtension=0; + NeckLateralBending=0; // not used when neck is switched off + NeckRotation=0; // not used when neck is switched off + + Right = { + //Arm + SternoClavicularProtraction=0; //This value is not used for initial position + SternoClavicularElevation=0; //This value is not used for initial position + SternoClavicularAxialRotation=0; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion =0; + GlenohumeralAbduction = 0; + GlenohumeralExternalRotation = 0; + + ElbowFlexion = 0.0; + ElbowPronation = 0.0; + + WristFlexion =0; + WristAbduction =0; + + //Leg + HipFlexion = 0.0; + HipAbduction = 0.0; + HipExternalRotation = 0.0; + + KneeFlexion = 0.0; + + AnklePlantarFlexion =0.0; + SubTalarEversion =0.0; + + //Detail Hand + Finger1 ={ + CMCDeviation=0; + CMCFlexion=0; + MCPFlexion= 0; + MCPDeviation= 0; + DIPFlexion=0; + }; + + Finger2 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger3 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger4 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger5 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + }; + + Left = { + //all values are set to be equal to the right side values + //feel free to change this! + + //Arm + SternoClavicularProtraction=.Right.SternoClavicularProtraction; + SternoClavicularElevation=.Right.SternoClavicularElevation; + SternoClavicularAxialRotation=.Right.SternoClavicularAxialRotation; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion = .Right.GlenohumeralFlexion ; + GlenohumeralAbduction =.Right.GlenohumeralAbduction ; + GlenohumeralExternalRotation =.Right.GlenohumeralExternalRotation ; + + ElbowFlexion = .Right.ElbowFlexion; + ElbowPronation = .Right.ElbowPronation; + + WristFlexion =.Right.WristFlexion; + WristAbduction =.Right.WristAbduction; + + //Leg + HipFlexion =.Right.HipFlexion; + HipAbduction =.Right.HipAbduction; + HipExternalRotation = .Right.HipExternalRotation; + + KneeFlexion = .Right.KneeFlexion; + + AnklePlantarFlexion = .Right.AnklePlantarFlexion ; + SubTalarEversion =.Right.SubTalarEversion; + + //Detail Hand + Finger1 ={ + CMCDeviation=0; + CMCFlexion=0; + MCPFlexion= 0; + MCPDeviation= 0; + DIPFlexion=0; + }; + + Finger2 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger3 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger4 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger5 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + }; + }; + +}; + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/RightFootDrivers.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/RightFootDrivers.any new file mode 100644 index 00000000..f368fcb1 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/RightFootDrivers.any @@ -0,0 +1,33 @@ + + + +AnyKinMotion HeelFloorContraintRight = +{ + AnyFunConst Data = { Value = {-0.028, 0, 0.14}; }; + + AnyKinLinear HeelPos = + { + AnyRefFrame &FloorRef = ....Environment.GlobalRef.FloorOffset; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefFrame &HeelRef = ....BodyModel.Right.Leg.Seg.Foot.HeelJoint; + #else + AnyRefFrame &HeelRef = ....BodyModel.Right.Leg.Seg.Foot.HeelContactNodeLow; + #endif + }; +}; + + +// Place the on the ground +AnyKinMotion ToeFloorContraintRight = +{ + AnyFunConst Data = { Value = {0.0}; }; + + AnyKinLinear ToePos = + { + AnyRefFrame &Ground = ....Environment.GlobalRef.FloorOffset; + AnyRefFrame &Ball = ....BodyModel.Right.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1}; // Only y direction +}; + + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/RunAppSequence.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/RunAppSequence.any new file mode 100644 index 00000000..35639705 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/Model/RunAppSequence.any @@ -0,0 +1,24 @@ + // Switch to define an automatic save of results to the Output folder +#ifndef AutoSaveOption +#define AutoSaveOption 0 +#endif + +/**Execute this operation to run the model in the intended operation sequence. +It is also possible to run operations seperately, by manual selections in the operation tree*/ +AnyOperationSequence RunApplication = { + + /*This operation calibrates the muscles in the model if these are of the type AnyMuscleModel3E. + This will just be an empty operation if the model is using a muscle type that does not require calibration.*/ + AnyOperation &CalibrationAnal = Main.HumanModel.Calibration.CalibrationSequence; + + ///This operation is the inverse dynamic analysis + AnyOperation &InvAnal=Main.Study.InverseDynamics; + + #if AutoSaveOption + /// This operation saves the output of the study to an h5 file in the Output folder + AnyOperationMacro save = { + MacroStr={ "classoperation Main.Study.Output " + strquote("Save data") + " --type=Deep" + " --file="+ strquote(ANYBODY_PATH_OUTPUT + ANYBODY_NAME_MAINFILE + ".anydata.h5")}; + }; + #endif +}; + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/NewModel.main.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/NewModel.main.any new file mode 100644 index 00000000..d1c00cfd --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/NewModel.main.any @@ -0,0 +1,74 @@ +#include "libdef.any" + +Main = { + // BodyModel configuration: + // Specify which limb segments to include, the type of muscles, joints, scaling etc + #include "Model/BodyModelConfiguration.any" + + // Include the Human model from AMMR + #include "/HumanModel.any" + + +//# BEGIN SNIPPET 1 +// Define desired posture or movement of the model +#include "Model/Mannequin.any" +//# END SNIPPET 1 + + // Compose the model used by the study + AnyFolder Model = + { + // Center of Mass (COM) position in the ground YZ plane + // COM balance driver can be excluded with: + // #define EXCLUDE_COM_BALANCE_DRIVERS + AnyVector CenterOfMassXZ = {0,0}; + + // Positioning of the right and left feet. + // Ground-foot constraints can be excluded with: + // #define EXCLUDE_FOOT_CONSTRAINTS + Environment.GlobalRef.RightFootPrint = { + AnyVec3 HeelPosition = {-0.08, 0, 0.14}; + AnyVec3 ToeDirection = {1, 0, 0.1}; + }; + Environment.GlobalRef.LeftFootPrint = { + AnyVec3 HeelPosition = {-0.08, 0, -0.14}; + AnyVec3 ToeDirection = {1, 0, -0.1}; + }; + + // Include the body part of the Human model + AnyFolder &BodyModel = .HumanModel.BodyModel; + + // Include the default mannequin drivers + AnyFolder &DefaultMannequinDrivers = .HumanModel.DefaultMannequinDrivers; + + // Environment files are used to include objects surrounding human, + // e.g. global reference frame + #include "Model/Environment.any" + + AnyFolder ModelEnvironmentConnection = + { + // This file contains all contraints to simulate the standing human + #include "Model/JointsAndDrivers.any" + + // Ground reaction force prediction + #include "Model/GRFPrediction.any" + }; + }; + // Define Study for running kinematics and inverse dynamics simulation analyses + AnyBodyStudy Study = + { + // Include the Model within the Study + AnyFolder &Model = .Model; + + Gravity={0.0, -9.81, 0.0}; + nStep = 11; + + // Overdeterminate solver is needed while using the + // soft default mannequin drivers. + Kinematics.SolverType = KinSolOverDeterminate; + InitialConditions.SolverType = Kinematics.SolverType ; + }; + // This is readymade simulation package including some pre-processing steps and the InverseDynamics analysis + #include "Model/RunAppSequence.any" + +}; //Main + diff --git a/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/libdef.any b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/libdef.any new file mode 100644 index 00000000..6c6db036 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/MyStandingHuman-3/libdef.any @@ -0,0 +1,9 @@ +#include "../libdef.any" + +#if AMMR_VERSION_MAJOR < 2 | (AMMR_VERSION_MAJOR <= 2 & AMMR_VERSION_MINOR < 3) + +Main = { +ERROR "Wrong AMMR version. Please modify libdef.any to point to the correct AMMR (>=2.2)" +}; +#endif + diff --git a/A_Getting_started/Snippets/lesson2/libdef.any b/A_Getting_started/Snippets/lesson2/libdef.any new file mode 100644 index 00000000..26348d05 --- /dev/null +++ b/A_Getting_started/Snippets/lesson2/libdef.any @@ -0,0 +1 @@ +#include "../../../libdef.any" diff --git a/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/BodyModelConfiguration.any b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/BodyModelConfiguration.any new file mode 100644 index 00000000..7b294435 --- /dev/null +++ b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/BodyModelConfiguration.any @@ -0,0 +1,15 @@ +#path __BM_PLUGIN_FILE__ "BodyModelConfiguration.any" +#define BM_CONFIG_PLUGIN __BM_PLUGIN_FILE__ + +// ----------------------------------------------------------------------------------- +// The BodyModel configuration can be modified using BodyModel GUI plugin +// or by manually editing this file. +// +// Please see this this file for more information on the options: +// #path HTML_DOC "/bm_config/index.html" +// ----------------------------------------------------------------------------------- + +#define BM_MANNEQUIN_DRIVER_DEFAULT ON + +// Enable the TLEM2 lower extremity model +#define BM_LEG_MODEL _LEG_MODEL_TLEM2_ \ No newline at end of file diff --git a/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/DrawSettings.any b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/DrawSettings.any new file mode 100644 index 00000000..1cb0aa9c --- /dev/null +++ b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/DrawSettings.any @@ -0,0 +1,149 @@ + +DrawSettings ={ + + + //This is the color definitions of the nodes and segments + Colors = { + AnyBodyRed = {149/256,51/256,55/256}; //AnyBody standard red + AnyBodyGreen = {47/256,131/256,80/256}; //AnyBody standard green + AnyBodyBlue = {82/256,85/256,111/256}; //AnyBody standard blue + AnyBodyYellow= {235/256,197/256,17/256}; //AnyBody standard yellow + AnyBodyPaleYellow = {248/256,204/256,115/256}; //AnyBody standard pale yellow +AnyBodyGrey = {153/256,153/256,153/256}; //AnyBody standard grey + + Nodes = AnyBodyPaleYellow; + Segments = AnyBodyPaleYellow; +}; + + Muscle ={ + RGB = .Colors.AnyBodyRed; + Visible =On; + DrawScaleOnOff =Off; + Bulging =0.0; + ColorScale =1.0; + RGBColorScale = {0.957031, 0.785156, 0.785156}; + MaxStress = 2500000.000000; //N/m^2 //This number is for graphics only! + Opacity =1.0; + DrawScale = + { + EnableCreasing = Off; + CreasingAngle = 0.524; + EnableWireframe = Off; + EnableSmoothing = On; + Param = 0.0; + ParamArray = {0.0, 0.167, 0.333, 0.5, 0.667, 0.833, 1.0}; + RGBArray = {{0.0, 0.0, 0.6}, {0.0, 0.0, 1.0}, {0.0, 1.0, 1.0}, {0.0, 1.0, 0.0}, {1.0, 1.0, 0.0}, {1.0, 0.0, 0.0}, {0.6, 0.0, 0.0}}; + OpacityArray = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}; + }; + }; + + + BonesOpacity ={ + + GlobalCoef = 1; + + Skull = 1*GlobalCoef; + Thorax = 1*GlobalCoef; + Pelvis = 1*GlobalCoef; + Sacrum = 1*GlobalCoef; + L5 = 1*GlobalCoef; + L4 = 1*GlobalCoef; + L3 = 1*GlobalCoef; + L2 = 1*GlobalCoef; + L1 = 1*GlobalCoef; + + RightFoot = 1*GlobalCoef; + RightShank = 1*GlobalCoef; + RightThigh = 1*GlobalCoef; + + LeftFoot = 1*GlobalCoef; + LeftShank = 1*GlobalCoef; + LeftThigh = 1*GlobalCoef; + + + RightClavicula = 1*GlobalCoef; + RightScapula = 1*GlobalCoef; + RightHumerus = 1*GlobalCoef; + RightUlna = 1*GlobalCoef; + RightRadius = 1*GlobalCoef; + RightHand = 1*GlobalCoef; + + LeftClavicula = 1*GlobalCoef; + LeftScapula = 1*GlobalCoef; + LeftHumerus = 1*GlobalCoef; + LeftUlna = 1*GlobalCoef; + LeftRadius = 1*GlobalCoef; + LeftHand = 1*GlobalCoef; + + + // For leg TD only. + RightTalus = 1*GlobalCoef; + RightPatella = 1*GlobalCoef; + + LeftTalus = 1*GlobalCoef; + LeftPatella = 1*GlobalCoef; + + + // For detailed cervical model only. + C1 = 1*GlobalCoef; + C2 = 1*GlobalCoef; + C3 = 1*GlobalCoef; + C4 = 1*GlobalCoef; + C5 = 1*GlobalCoef; + C6 = 1*GlobalCoef; + C7 = 1*GlobalCoef; + }; + + + + SegmentAxes ={ + RGB ={0,0,1}; + ScaleXYZ ={0.0001,0.00001,0.00001}; + }; + BML ={ + ScaleXYZ ={0.0006,0.0006,0.0006}; + RGB = .Colors.AnyBodyBlue; + }; + JointAxesProximal = { + RGB = .Colors.AnyBodyRed; + ScaleXYZ = {0.015,0.015,0.015}; + }; + JointAxesDistal = { + RGB = .Colors.AnyBodyGreen; + ScaleXYZ = {0.01,0.01,0.01}; + }; + + + SegmentNodes ={ + ScaleXYZ ={0.0005,0.0005,0.0005}; + RGB = .Colors.AnyBodyRed; + }; + WrapGeometry ={ + RGB ={1,1,1}; + }; + + DrawSettingsSupport={ + Lin={ + ScaleFactor=0.004; + RGB = {0,0,1}; + Thickness = 0.004; + HeadThickness = 2*Thickness; + HeadLength = 3*Thickness; + }; + Rot={ + ScaleFactor=0.08; + RGB = {1,0,0}; + Thickness = 0.075; + HeadThickness = 2*Thickness; + HeadLength = 5*Thickness; + }; + }; + + + Marker={ + Color={0,0,1}; + Radius=0.00; + + }; + +}; //DrawSettings \ No newline at end of file diff --git a/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/Environment.any b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/Environment.any new file mode 100644 index 00000000..2402d1e6 --- /dev/null +++ b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/Environment.any @@ -0,0 +1,25 @@ +AnyFolder Environment = { + //^ Environment files are used to include objects surrounding human, + //^ e.g. global reference frame + + AnyFixedRefFrame GlobalRef = + { + AnyDrawRefFrame drw={ScaleXYZ=0.3*{1,1,1};}; + + AnyRefNode RightFootPrint = { + //^ Positioning of the right foot. + //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS + sRel = HeelPosition; + ARel = RotMat({0,0,0}, ToeDirection, {0,10,0}); + AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};}; + }; + + AnyRefNode LeftFootPrint = { + //^ Positioning of the right foot. + //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS + sRel = HeelPosition; + ARel = RotMat({0,0,0}, ToeDirection, {0,10,0}); + AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};}; + }; + }; +}; \ No newline at end of file diff --git a/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/GRFPrediction.any b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/GRFPrediction.any new file mode 100644 index 00000000..880f4312 --- /dev/null +++ b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/GRFPrediction.any @@ -0,0 +1,47 @@ + + //-------- GRFPrediction for the right leg + // See: #include "/Tools/GRFPrediction/FootPlateConditionalContact.any" + FootPlateConditionalContact GRF_Prediction_Right( + NORMAL_DIRECTION = "Y", + NUMBER_OF_NODES = 25, + NODES_FOLDER = FootNodes, + PLATE_BASE_FRAME = Main.Model.Environment.GlobalRef, + GLOBAL_REF = Main.Model.Environment.GlobalRef, + SHOW_TRIGGER_VOLUME = ON + ) = + { + CreateFootContactNodes25 FootNodes( + foot_ref=Main.HumanModel.BodyModel.Right.Leg.Seg.Foot + ) = {}; + + // Additional force plate settings + Settings = + { + LimitDistHigh = 0.025; // Vertical height + FrictionCoefficient = 0.8; + }; + }; + + + //-------- GRFPrediction for the right leg + // See: #include "/Tools/GRFPrediction/FootPlateConditionalContact.any" + FootPlateConditionalContact GRF_Prediction_Left( + NORMAL_DIRECTION = "Y", + NUMBER_OF_NODES = 25, + NODES_FOLDER = FootNodes, + PLATE_BASE_FRAME = Main.Model.Environment.GlobalRef, + GLOBAL_REF = Main.Model.Environment.GlobalRef, + SHOW_TRIGGER_VOLUME = ON + ) = + { + CreateFootContactNodes25 FootNodes( + foot_ref=Main.HumanModel.BodyModel.Left.Leg.Seg.Foot + ) = {}; + + Settings = + { + LimitDistHigh = 0.025; + FrictionCoefficient = 0.8; + }; + }; + diff --git a/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/JointsAndDrivers.any b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/JointsAndDrivers.any new file mode 100644 index 00000000..f538a299 --- /dev/null +++ b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/JointsAndDrivers.any @@ -0,0 +1,82 @@ + +// Center of Mass drivers can be excluded +// by setting #define EXCLUDE_COM_BALANCE_DRIVERS +#ifndef EXCLUDE_COM_BALANCE_DRIVERS + + //Constraint the collective CoM to be right above the GlobalRef + AnyKinDriver CenterOfMassDriver = { + AnyKinMeasure& CoM = ..BodyModel.Interface.CenterOfMass; + AnyFunConst Position = { + Value = Main.Model.CenterOfMassXZ; + }; + MeasureOrganizer = {0,2}; // Only the x and z directions + Reaction.Type = {Off,Off}; + + }; + // Ankles are assigned a lower weight so most of the + // center of mass balancing will happen at the ankle joint. + Main.Model.DefaultMannequinDrivers.DefaultWeakDriverWeight = 0.01; + Main.Model.DefaultMannequinDrivers.AnkleDriverLeftFlexion.WeakDriverWeight = 0.001; + Main.Model.DefaultMannequinDrivers.AnkleDriverRightFlexion.WeakDriverWeight = 0.001; + +#endif + + + +// Foot driver constraints can be excluded +// by setting #define EXCLUDE_FOOT_CONSTRAINTS +#ifndef EXCLUDE_FOOT_CONSTRAINTS + + // Default drivers for the pelvis position is set to zero + // since foot drivers determine the position of the model + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosX.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosY.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosZ.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotX.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotY.WeakDriverWeight = 0; + Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotZ.WeakDriverWeight = 0; + + + AnyFolder Right = + { + AnyKinEq HeelFloorContraint = { + AnyKinLinear HeelMeasure = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.RightFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.HeelContactNodeLow; + }; + Reaction.Type = {Off,Off,Off}; + }; + + AnyKinEq ToeDirectionContraint = + { + AnyKinLinear ToeDirection = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.RightFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1,2}; // Only y,z direction + Reaction.Type = {Off,Off}; + }; + }; + + AnyFolder Left = + { + AnyKinEq HeelFloorContraint = { + AnyKinLinear HeelMeasure = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.LeftFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Left.Leg.Seg.Foot.HeelContactNodeLow; + }; + Reaction.Type = {Off,Off,Off}; + }; + + AnyKinEq ToeDirectionContraint = + { + AnyKinLinear ToeDirection = { + AnyRefFrame &FootPrint = Main.Model.Environment.GlobalRef.LeftFootPrint; + AnyRefFrame &Heel = Main.HumanModel.BodyModel.Left.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1,2}; // Only y,z direction + Reaction.Type = {Off,Off}; + }; + }; + +#endif diff --git a/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/LeftFootDrivers.any b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/LeftFootDrivers.any new file mode 100644 index 00000000..2416b182 --- /dev/null +++ b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/LeftFootDrivers.any @@ -0,0 +1,62 @@ +// AnyReacForce LeftFootReaction = { +// +// AnyKinLinear LeftFootLinMeasure = { +// AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot; +// AnyFixedRefFrame &ref2 = ....Environment.GlobalRef; +// }; +// AnyKinRotational LeftFootRotMeasure = { +// AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot; +// AnyFixedRefFrame &ref2 = ....Environment.GlobalRef; +// Type = RotVector; +// +// }; +// }; + + + + // Place the Left toe and heel on the ground + AnyKinEqSimpleDriver LToeGroundConstraint ={ + AnyKinLinear ToePos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1}; // Only the y coordinate + DriverPos = {0.0}; + DriverVel = {0}; + Reaction.Type = {Off}; // Provide ground reaction forces + + }; + + AnyKinEqSimpleDriver LHeelGroundConstraint ={ + AnyKinLinear HeelPos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.HeelJoint; + #else + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.HeelContactNodeLow; + #endif + }; + MeasureOrganizer = {1}; // Only the y coordinate + DriverPos = {0.0}; + DriverVel = {0}; + Reaction.Type = {Off}; // Provide ground reaction forces + }; + + + // Position the Ankles Left above the z axis + AnyKinEqSimpleDriver LAnkleX = { + AnyKinLinear AnklePos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefNode &Ankle = ....BodyModel.Left.Leg.Seg.Foot.AnkleJoint; + #else + AnyRefNode &Ankle = ....BodyModel.Left.Leg.Seg.Foot.SubTalarJoint; + #endif + }; + MeasureOrganizer = {0}; // Only the x coordinate + DriverPos = {0.0}; + DriverVel = {0.0}; + Reaction.Type = {Off}; + }; + + diff --git a/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/Mannequin.any b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/Mannequin.any new file mode 100644 index 00000000..6171f43d --- /dev/null +++ b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/Mannequin.any @@ -0,0 +1,300 @@ +// Default mannequin position values +//# BEGIN SNIPPET 1 +HumanModel.Mannequin = { + + Posture = { + + /* ... */ + + §PelvisThoraxExtension=-60;§ + PelvisThoraxLateralBending=0; + PelvisThoraxRotation=0; + + /* ... */ +//# END SNIPPET 1 + + //This controls the position of the pelvis with respect to (wrt.) to the global reference frame + PelvisPosX=0.0502; + PelvisPosY=0.969; + PelvisPosZ=0; + + //This controls the rotation of the pelvis wrt. to the global reference frame + PelvisRotX=0; + PelvisRotY=0; + PelvisRotZ=-3; + + NeckExtension=0; + NeckLateralBending=0; // not used when neck is switched off + NeckRotation=0; // not used when neck is switched off + + Right = { + //Arm + SternoClavicularProtraction=-23; //This value is not used for initial position + SternoClavicularElevation=11.5; //This value is not used for initial position + SternoClavicularAxialRotation=-20; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion =-0; + GlenohumeralAbduction = 4; + GlenohumeralExternalRotation = 2; + + ElbowFlexion = 0.01; + ElbowPronation = -20.0; + + WristFlexion =0; + WristAbduction =0; + + //Leg + HipFlexion = 0.0; + HipAbduction = 5.0; + HipExternalRotation = 0.0; + + KneeFlexion = 4.0; + + AnklePlantarFlexion =0.0; + SubTalarEversion =0.0; + + //Detail Hand + Finger1 ={ + CMCDeviation=20; + CMCFlexion=20; + MCPFlexion= 10; + MCPDeviation=0; + DIPFlexion=0; + }; + + Finger2 ={ + MCPFlexion=10; + PIPFlexion=20; + DIPFlexion=20; + }; + + Finger3 ={ + MCPFlexion=10; + PIPFlexion=20; + DIPFlexion=20; + }; + + Finger4 ={ + MCPFlexion=10; + PIPFlexion=20; + DIPFlexion=20; + }; + + Finger5 ={ + MCPFlexion=10; + PIPFlexion=20; + DIPFlexion=20; + }; + }; + + Left = { + //all positions are set to be equal to the right side values + //feel free to change this! + + //Arm + SternoClavicularProtraction=.Right.SternoClavicularProtraction; + SternoClavicularElevation=.Right.SternoClavicularElevation; + SternoClavicularAxialRotation=.Right.SternoClavicularAxialRotation; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion = .Right.GlenohumeralFlexion ; + GlenohumeralAbduction =.Right.GlenohumeralAbduction ; + GlenohumeralExternalRotation =.Right.GlenohumeralExternalRotation ; + + ElbowFlexion = .Right.ElbowFlexion; + ElbowPronation = .Right.ElbowPronation; + + WristFlexion =.Right.WristFlexion; + WristAbduction =.Right.WristAbduction; + + //Leg + HipFlexion =.Right.HipFlexion; + HipAbduction =.Right.HipAbduction; + HipExternalRotation = .Right.HipExternalRotation; + + KneeFlexion = .Right.KneeFlexion; + + AnklePlantarFlexion = .Right.AnklePlantarFlexion ; + SubTalarEversion =.Right.SubTalarEversion; + + //Detail Hand + Finger1 ={ + CMCDeviation= ..Right.Finger1.CMCDeviation; + CMCFlexion= ..Right.Finger1.CMCFlexion; + MCPFlexion= ..Right.Finger1.MCPFlexion; + MCPDeviation= ..Right.Finger1.MCPDeviation; + DIPFlexion= ..Right.Finger1.DIPFlexion; + }; + + Finger2 ={ + MCPFlexion= ..Right.Finger2.MCPFlexion; + PIPFlexion= ..Right.Finger2.PIPFlexion; + DIPFlexion= ..Right.Finger2.DIPFlexion; + }; + + Finger3 ={ + MCPFlexion= ..Right.Finger3.MCPFlexion; + PIPFlexion= ..Right.Finger3.PIPFlexion; + DIPFlexion= ..Right.Finger3.DIPFlexion; + }; + + Finger4 ={ + MCPFlexion= ..Right.Finger4.MCPFlexion; + PIPFlexion= ..Right.Finger4.PIPFlexion; + DIPFlexion= ..Right.Finger4.DIPFlexion; + }; + + Finger5 ={ + MCPFlexion= ..Right.Finger5.MCPFlexion; + PIPFlexion= ..Right.Finger5.PIPFlexion; + DIPFlexion= ..Right.Finger5.DIPFlexion; + }; + }; + }; + + PostureVel={ + //This controls the position of the pelvis wrt. to the global reference frame + PelvisPosX=0; + PelvisPosY=0; + PelvisPosZ=0; + + //This controls the rotation of the pelvis wrt. to the global reference frame + PelvisRotX=0; + PelvisRotY=0; + PelvisRotZ=0; + + // These variables control the rotation of the thorax wrt. the + // pelvis + PelvisThoraxExtension=0; + PelvisThoraxLateralBending=0; + PelvisThoraxRotation=0; + + NeckExtension=0; + NeckLateralBending=0; // not used when neck is switched off + NeckRotation=0; // not used when neck is switched off + + Right = { + //Arm + SternoClavicularProtraction=0; //This value is not used for initial position + SternoClavicularElevation=0; //This value is not used for initial position + SternoClavicularAxialRotation=0; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion =0; + GlenohumeralAbduction = 0; + GlenohumeralExternalRotation = 0; + + ElbowFlexion = 0.0; + ElbowPronation = 0.0; + + WristFlexion =0; + WristAbduction =0; + + //Leg + HipFlexion = 0.0; + HipAbduction = 0.0; + HipExternalRotation = 0.0; + + KneeFlexion = 0.0; + + AnklePlantarFlexion =0.0; + SubTalarEversion =0.0; + + //Detail Hand + Finger1 ={ + CMCDeviation=0; + CMCFlexion=0; + MCPFlexion= 0; + MCPDeviation= 0; + DIPFlexion=0; + }; + + Finger2 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger3 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger4 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger5 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + }; + + Left = { + //all values are set to be equal to the right side values + //feel free to change this! + + //Arm + SternoClavicularProtraction=.Right.SternoClavicularProtraction; + SternoClavicularElevation=.Right.SternoClavicularElevation; + SternoClavicularAxialRotation=.Right.SternoClavicularAxialRotation; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion = .Right.GlenohumeralFlexion ; + GlenohumeralAbduction =.Right.GlenohumeralAbduction ; + GlenohumeralExternalRotation =.Right.GlenohumeralExternalRotation ; + + ElbowFlexion = .Right.ElbowFlexion; + ElbowPronation = .Right.ElbowPronation; + + WristFlexion =.Right.WristFlexion; + WristAbduction =.Right.WristAbduction; + + //Leg + HipFlexion =.Right.HipFlexion; + HipAbduction =.Right.HipAbduction; + HipExternalRotation = .Right.HipExternalRotation; + + KneeFlexion = .Right.KneeFlexion; + + AnklePlantarFlexion = .Right.AnklePlantarFlexion ; + SubTalarEversion =.Right.SubTalarEversion; + + //Detail Hand + Finger1 ={ + CMCDeviation=0; + CMCFlexion=0; + MCPFlexion= 0; + MCPDeviation= 0; + DIPFlexion=0; + }; + + Finger2 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger3 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger4 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger5 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + }; + }; + +}; + diff --git a/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/RightFootDrivers.any b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/RightFootDrivers.any new file mode 100644 index 00000000..f368fcb1 --- /dev/null +++ b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/RightFootDrivers.any @@ -0,0 +1,33 @@ + + + +AnyKinMotion HeelFloorContraintRight = +{ + AnyFunConst Data = { Value = {-0.028, 0, 0.14}; }; + + AnyKinLinear HeelPos = + { + AnyRefFrame &FloorRef = ....Environment.GlobalRef.FloorOffset; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefFrame &HeelRef = ....BodyModel.Right.Leg.Seg.Foot.HeelJoint; + #else + AnyRefFrame &HeelRef = ....BodyModel.Right.Leg.Seg.Foot.HeelContactNodeLow; + #endif + }; +}; + + +// Place the on the ground +AnyKinMotion ToeFloorContraintRight = +{ + AnyFunConst Data = { Value = {0.0}; }; + + AnyKinLinear ToePos = + { + AnyRefFrame &Ground = ....Environment.GlobalRef.FloorOffset; + AnyRefFrame &Ball = ....BodyModel.Right.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1}; // Only y direction +}; + + diff --git a/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/RunAppSequence.any b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/RunAppSequence.any new file mode 100644 index 00000000..35639705 --- /dev/null +++ b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/Model/RunAppSequence.any @@ -0,0 +1,24 @@ + // Switch to define an automatic save of results to the Output folder +#ifndef AutoSaveOption +#define AutoSaveOption 0 +#endif + +/**Execute this operation to run the model in the intended operation sequence. +It is also possible to run operations seperately, by manual selections in the operation tree*/ +AnyOperationSequence RunApplication = { + + /*This operation calibrates the muscles in the model if these are of the type AnyMuscleModel3E. + This will just be an empty operation if the model is using a muscle type that does not require calibration.*/ + AnyOperation &CalibrationAnal = Main.HumanModel.Calibration.CalibrationSequence; + + ///This operation is the inverse dynamic analysis + AnyOperation &InvAnal=Main.Study.InverseDynamics; + + #if AutoSaveOption + /// This operation saves the output of the study to an h5 file in the Output folder + AnyOperationMacro save = { + MacroStr={ "classoperation Main.Study.Output " + strquote("Save data") + " --type=Deep" + " --file="+ strquote(ANYBODY_PATH_OUTPUT + ANYBODY_NAME_MAINFILE + ".anydata.h5")}; + }; + #endif +}; + diff --git a/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/NewModel.main.any b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/NewModel.main.any new file mode 100644 index 00000000..b5bcc0ac --- /dev/null +++ b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/NewModel.main.any @@ -0,0 +1,78 @@ +#include "libdef.any" + +Main = { + // BodyModel configuration: + // Specify which limb segments to include, the type of muscles, joints, scaling etc + #include "Model/BodyModelConfiguration.any" + + // Include the Human model from AMMR + #include "/HumanModel.any" + + // Define desired posture or movement of the model + #include "Model/Mannequin.any" + + // Compose the model used by the study + AnyFolder Model = + { + // Center of Mass (COM) position in the ground YZ plane + // COM balance driver can be excluded with: + // #define EXCLUDE_COM_BALANCE_DRIVERS + AnyVector CenterOfMassXZ = {0,0}; + + // Positioning of the right and left feet. + // Ground-foot constraints can be excluded with: + // #define EXCLUDE_FOOT_CONSTRAINTS + Environment.GlobalRef.RightFootPrint = { + AnyVec3 HeelPosition = {-0.08, 0, 0.14}; + AnyVec3 ToeDirection = {1, 0, 0.1}; + }; + Environment.GlobalRef.LeftFootPrint = { + AnyVec3 HeelPosition = {-0.08, 0, -0.14}; + AnyVec3 ToeDirection = {1, 0, -0.1}; + }; + + // Include the body part of the Human model + AnyFolder &BodyModel = .HumanModel.BodyModel; + + // Include the default mannequin drivers + AnyFolder &DefaultMannequinDrivers = .HumanModel.DefaultMannequinDrivers; + + // Environment files are used to include objects surrounding human, + // e.g. global reference frame + #include "Model/Environment.any" + + AnyFolder ModelEnvironmentConnection = + { + // This file contains all contraints to simulate the standing human + #include "Model/JointsAndDrivers.any" + + // Ground reaction force prediction + #include "Model/GRFPrediction.any" + }; + }; + // Define Study for running kinematics and inverse dynamics simulation analyses + AnyBodyStudy Study = + { + // Include the Model within the Study + AnyFolder &Model = .Model; + + Gravity={0.0, -9.81, 0.0}; + nStep = 11; + + // Overdeterminate solver is needed while using the + // soft default mannequin drivers. + Kinematics.SolverType = KinSolOverDeterminate; + InitialConditions.SolverType = Kinematics.SolverType ; + }; + // This is readymade simulation package including some pre-processing steps and the InverseDynamics analysis + #include "Model/RunAppSequence.any" + + + AnyOperationSequence RunTest = { + + AnyOperation& RunAnalysis = Main.RunApplication; + + }; + +}; //Main + diff --git a/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/libdef.any b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/libdef.any new file mode 100644 index 00000000..6c6db036 --- /dev/null +++ b/A_Getting_started/Snippets/lesson3/MyStandingHuman-1/libdef.any @@ -0,0 +1,9 @@ +#include "../libdef.any" + +#if AMMR_VERSION_MAJOR < 2 | (AMMR_VERSION_MAJOR <= 2 & AMMR_VERSION_MINOR < 3) + +Main = { +ERROR "Wrong AMMR version. Please modify libdef.any to point to the correct AMMR (>=2.2)" +}; +#endif + diff --git a/A_Getting_started/Snippets/lesson3/libdef.any b/A_Getting_started/Snippets/lesson3/libdef.any new file mode 100644 index 00000000..26348d05 --- /dev/null +++ b/A_Getting_started/Snippets/lesson3/libdef.any @@ -0,0 +1 @@ +#include "../../../libdef.any" diff --git a/A_Getting_started/_static/intro/image1.png b/A_Getting_started/_static/intro/image1.png index 28e7e3dc51a9bd2af8041f6d2b2ae06fe65f6870..62f29ec802da47482c21228c43510e646fcb0c67 100644 GIT binary patch literal 79293 zcmbsQbx<5z_Xdnc2=4B#A!u-CaCaxT2OHc8?(Xg$+&#eH?rwv-yM5%G_x!%Pf845D zb*p-&YtKwi@4b7iXW6qt{W0Cn+F_`DbDzM?7lCWTyt$pK^>S!LQi8KjlA5)Mp(CZb~OGl!uR}p%)o{p#_MAT z{(F>ssR}myzk$gA$3Xcy$Il#!-Y|%;)W>w|4jhRrAZF|e{*4!rt2;VUcOw!Qh&I7 zoB6+w;nBWvU;y1s#=F*Lf;I;g>Er{UWDldH%OTeG7I(($kfYIO>rhfTbO?tj&{DB7trz;(B;1 zrYRCp%!BdUV^q5J>;Cs|?x*V?r=zmNNT+mM3lFF(x|@?-)fXfO-JqDW%lRT{ZvTM4Kj4hWcbp@ 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z|BHQOKZCIiBVo*=epr@GbF;OdGdQ_ahXbjs3lbDDS#T`e-{Rg@`3UnQ%DJfd!^AQb zm~n)EoQgRa5#{X&kofl_en8SyVB5)8FO-$hE<7gx1Tt;0puhvZ%8nDf{yj6fFTLF) zBxd^2Bk7OGfkhczK*S2DvS2Gy*d;f~5jE?qNUG>p$zJe=GAo(rkqJ}`F>oTB`dwaW zeUJqnSJO7xjD)RBG@Q8R|8nU+&H)eeLl!UYlaJ0 zcL14sxk6;qhSDA>REbsxg}UHSv#_P?3_`s0>zBod{v4Y-MzNUlcZ%8Bl19-$Nf+q1 xK6IIcE45^NJS59PgVz}gP+w)&m-?AHKxw7iH)#Jv%^}%{{e`RNOV8bj{Xc-A%U}Qi diff --git a/A_Getting_started/intro.md b/A_Getting_started/intro.md index 30d5e9cb..f105b76d 100644 --- a/A_Getting_started/intro.md +++ b/A_Getting_started/intro.md @@ -43,7 +43,7 @@ following subfolders: - **Body** contains models of body parts and collections of body parts such as the lumbar spine model, leg models etc. which are used by the applications. -A closer inspection of the Application branch reveals that it has three subfolders: +A closer inspection of the Application branch reveals that it has four subfolders: - The **Beta** folder contains models that are unfinished, but may still be useful. - The **Examples** folder contains many models of various activities of daily living, and it is likely that you diff --git a/A_Getting_started/lesson1.md b/A_Getting_started/lesson1.md index 2bfa1ca5..82a6deca 100644 --- a/A_Getting_started/lesson1.md +++ b/A_Getting_started/lesson1.md @@ -23,7 +23,11 @@ Key (modifiable) features of the standing model are: To create a new standing model using the template model in the AMMR, click the "Create New from template" button ![Model_button](_static/lesson1/image_1.png) in the toolbar: -![ModelLoadButton](_static/lesson1/image_2.png) +```{image} _static/lesson1/image_2.png +:alt: Toolbar +:class: bg-primary +:align: center +``` The Template dialogue opens and displays a list of pre-defined templates supported in the AMMR. @@ -35,12 +39,20 @@ which we extracted in the {doc}`introduction ` of this tutorial. Give the model a name, for example {file}`MyStandingHuman`, and press OK to save. -![TemplateDialog](_static/lesson1/image_3b.png) +```{image} _static/lesson1/image_3b.png +:alt: Template +:class: bg-primary +:align: center +``` Your new ‘MyStandingHuman.main.any’ file opens in the script Editor. The location of the file is shown in the title bar: -![MyStandingHuman_main_any](_static/lesson1/image_4.png) +```{image} _static/lesson1/image_4.png +:alt: Script editor +:class: bg-primary +:align: center +``` :::{warning} If you saved your model in an other location be @@ -60,14 +72,22 @@ key F7. You may also load your model by clicking** ![Load](_static/lesson1/image This action will load whatever file is chosen in the text editor. If a file is already loaded, the above action will simply reload the file until you give another file loading priority by right-clicking its tab and select “Load Model”. -![Load_model_right_click_menu](_static/lesson1/image_7.png) +```{image} _static/lesson1/image_7.png +:alt: Load Model +:class: bg-primary +:align: center +``` ## The model view When loading is completed, the Model View window opens and shows the standing model: (You can open it manually from View -> Model Views). -![Model_View](_static/lesson1/image_5.png) +```{image} _static/lesson1/image_5.png +:alt: Model view +:class: bg-primary +:align: center +``` The icons in the toolbar at the top of the Model View window allow you to modify the image: zoom, pan, rotate, etc. They should be mostly diff --git a/A_Getting_started/lesson2.md b/A_Getting_started/lesson2.md index fe75fa3e..ecacc700 100644 --- a/A_Getting_started/lesson2.md +++ b/A_Getting_started/lesson2.md @@ -10,13 +10,10 @@ down to the line which says `#include "Model\Mannequin.any"`. ## Mannequin file structure -```AnyScriptDoc -... - -// Define desired posture or movement of the model -#include "Model\Mannequin.any" - -... +```{literalinclude} Snippets/lesson2/MyStandingHuman-1/NewModel.main.any +:language: AnyScriptDoc +:start-after: //# BEGIN SNIPPET 1 +:end-before: //# END SNIPPET 1 ``` **This line means that your model will include the "Mannequin.any" file located in the Model folder, @@ -27,23 +24,10 @@ your model opens the mannequin file in a new tab. Then you see the following structure. (In the interest of legibility we have removed many of the lines): -```AnyScriptDoc -// Default mannequin position values -HumanModel.Mannequin = { -  Posture = { -    Right = { -    }; -    Left = { -    }; -  }; - - PostureVel= { - Right = { -   }; -   Left = { -   }; -  }; -}; +```{literalinclude} Snippets/lesson2/MyStandingHuman-2/Model/Mannequin.any +:language: AnyScriptDoc +:start-after: //# BEGIN SNIPPET 1 +:end-before: //# END SNIPPET 1 ``` **The section between each pair of braces creates a Folder, with all variables defined within forming the folder contents.** @@ -51,54 +35,33 @@ HumanModel.Mannequin = { Once the loading process is complete, you can see this folder structure being replicated in "Model tree" on the left of your screen. All contents of this file can be seen by expanding the "Mannequin" folder icon in the tree. -![...](_static/lesson2/image1.png) +```{image} _static/lesson2/image1.png +:alt: Folder tree Mannequin +:class: bg-primary +:align: center +``` There are sub-folders for postural joint angles (in degrees) and angular velocities (in degrees/second), for the right and left halves of the body. -Changing any of the joint angles and reloading the model, will change the model's posture at load time. To start with, ensure that the contents of the "Right" -and "Left" sub-folders are as follows. - -```AnyScriptDoc -... -Right = { - //Arm - SternoClavicularProtraction=-23; //This value is not used for initial position - SternoClavicularElevation=11.5; //This value is not used for initial position - SternoClavicularAxialRotation=-20; ///< Only used when the clavicular axial rotation rhythm is diabled - - GlenohumeralFlexion =-0; - GlenohumeralAbduction = 4; - GlenohumeralExternalRotation = 2; - - ElbowFlexion = 0.01; - ElbowPronation = -20.0; - - WristFlexion =0; - WristAbduction =0; - - //Leg - HipFlexion = 0.0; - HipAbduction = 5.0; - HipExternalRotation = 0.0; - - KneeFlexion = 4.0; - - AnklePlantarFlexion =0.0; - SubTalarEversion =0.0; - -... +Changing any of the joint angles and reloading the model, will change the model's posture at load time. To start with, ensure that the contents of the `Right` +and `Left` sub-folders are as follows. + +```{literalinclude} Snippets/lesson2/MyStandingHuman-3/Model/Mannequin.any +:language: AnyScriptDoc +:start-after: //# BEGIN SNIPPET 1 +:end-before: //# END SNIPPET 1 ``` -If you scroll down, you'll see that the contents of "Left" folder are set to be equal -to those from the "Right" folder, in order to create a symmetric posture. +If you scroll down, you'll see that the contents of `Left` folder are set to be equal +to those from the `Right` folder, in order to create a symmetric posture. **This is an important feature of the AnyScript language. Instead of numbers, you can create references to other variables or write mathematical expressions wherever necessary.** -To create a non-symmetric posture, you would have to replace some of the expressions in the "Left" folder with numbers of your choice. +To create a non-symmetric posture, you would have to replace some of the expressions in the `Left` folder with numbers of your choice. -Scrolling further below, you will find the "PosturVel folder". This is organized exactly like Posture, but the numbers here specify +Scrolling further below, you will find the `PosturVel folder`. This is organized exactly like Posture, but the numbers here specify joint angular velocities in degrees per second. For now, please leave all the values in this folder as zero. (running-analysis)= @@ -114,14 +77,14 @@ Simulation based analyses in AnyBody are termed "Studies". - **Kinematics**: Runs Kinematic analysis - **InverseDynamics**: Runs Inverse dynamic analysis - **InitialConditions**: Runs only the first time step of Kinematics. Useful for testing and debugging. -- **Replay**: Replays the last operation that was run. ```{image} _static/lesson2/image2.png +:alt: Operations drop down menu +:class: bg-primary +:align: center ``` -**Step 2**: Click the "Run Operation" button on the Execute toolbar. This toolbar is next to the drop-down menu, and contains three buttons: - -![...](_static/lesson2/image3.png) +**Step 2**: Click the "Execute" button on the Execute toolbar. This toolbar is next to the drop-down menu, and contains three buttons: - **Run operation**: Starts or pauses the chosen operation. Shortcut F5. diff --git a/A_Getting_started/lesson3.md b/A_Getting_started/lesson3.md index 0743a8c2..8924ef5e 100644 --- a/A_Getting_started/lesson3.md +++ b/A_Getting_started/lesson3.md @@ -1,10 +1,3 @@ ---- -myst: - substitutions: - getting_started_8: |- - ---- - ::: {rst-class} break ::: @@ -24,17 +17,28 @@ filtered down version of the model tree, which only contains simulation outputs One of the first nodes you encounter in this tree is the MaxMuscleActivity variable: ```{image} _static/lesson3/image1.png +:alt: Model tree +:class: bg-primary +:align: center ``` Selecting MaxMuscleActivity plots this variable vs time. The plot is a flat line due to the static posture of the model. -![...](_static/lesson3/image2.png) +```{image} _static/lesson3/image2.png +:alt: Chart MaxMuscleActivity +:class: bg-primary +:align: center +``` If you want to see details of the actual values being plotted, click this -button . It adds a table with values below the chart: +button Details_values. It adds a table with values below the chart: -![...](_static/lesson3/image4.png) +```{image} _static/lesson3/image4.png +:alt: Chart actual values +:class: bg-primary +:align: center +``` **This chart shows you that when standing upright, the most active muscle in model is using about 12% of that particular muscle's maximum strength.** @@ -46,28 +50,44 @@ moments (generated by muscles) and muscle activations. For your convenience, the so-called SelectedOutput folder contains all those representative values. You will find the folder in the tree here: -![...](_static/lesson3/image5.png) +```{image} _static/lesson3/image5.png +:alt: Model tree +:class: bg-primary +:align: center +``` **Navigate to the "Right.Leg.JointReactionForce" folder by expanding the tree view like this**: -![...](_static/lesson3/image6.png) +```{image} _static/lesson3/image6.png +:alt: Model tree forces +:class: bg-primary +:align: center +``` If you select the ‘Hip_ProximoDistalForce’, you will see its value vs time in the Chart View. -![...](_static/lesson3/image7.png) +```{image} _static/lesson3/image7.png +:alt: Chart Hip force +:class: bg-primary +:align: center +``` -From this chart, we can see that there is about 558N force at the +From this chart, we can see that there is about 581N force at the right hip joint in the proximodistal direction. **It is possible to select and plot several outputs simultaneously -by using the asterisk character** ({literal}`*`). **If you double-click +by using the asterisk character ({literal}`*`).** If you double-click the "Value" property towards the top of your Chart View, it becomes editable. Let us edit the last "Hip_ProximoDistalForce" term to "Hip\_\*". This -plots all variables in the "JointReactionForce" folder that beging with "Hip\_".** +plots all variables in the "JointReactionForce" folder that begin with "Hip\_". -![...](_static/lesson3/image8.png) +```{image} _static/lesson3/image8.png +:alt: Chart Hip_ forces +:class: bg-primary +:align: center +``` Now you will see the ‘Hip_MediolateralForce’, ‘Hip_ProximoDistalForce’ and ‘Hip_AnteroPosteriorForce’ in the same Chart View. @@ -80,33 +100,32 @@ model to see what happens to the hip joint reaction force. To adjust the posture of the human model, open your Mannequin.any file and change the PelvisThoraxExtension value from 0 to -60. -```AnyScriptDoc -Mannequin = { - - Posture = { - - ... - - §PelvisThoraxExtension=-60; § - PelvisThoraxLateralBending=0; - PelvisThoraxRotation=0; - - ... +```{literalinclude} Snippets/lesson3/MyStandingHuman-1/Model/Mannequin.any +:language: AnyScriptDoc +:start-after: //# BEGIN SNIPPET 1 +:end-before: //# END SNIPPET 1 ``` Press the F7 button to reload the model and run the "RunApplication" operation again. This will show the modified posture of the human model in the Model View. -![...](_static/lesson3/image9.png) +```{image} _static/lesson3/image9.png +:alt: Model view bent posture +:class: bg-primary +:align: center +``` Next, we will check the changes in the right hip joint reaction forces. -![...](_static/lesson3/image10.png) - +```{image} _static/lesson3/image10.png +:alt: Chart hip_forces bent posture +:class: bg-primary +:align: center +``` In the above Chart View, the largest hip joint reaction -force component is the "ProximoDistalForce" at about 1263N. +force component is the "ProximoDistalForce" at about 1189N. So compared to the normal standing posture model, the value has more than doubled. The forces of the "Mediolateral" and "AnteroPosterior" directions have also increased. diff --git a/A_Getting_started_anyscript/Downloads/demo.arm2d.any b/A_Getting_started_anyscript/Downloads/demo.arm2d.any index 2422bb80..15c68825 100644 --- a/A_Getting_started_anyscript/Downloads/demo.arm2d.any +++ b/A_Getting_started_anyscript/Downloads/demo.arm2d.any @@ -87,22 +87,21 @@ Main = { sRel = {-0.25,0,-0.05}; }; AnyRefNode PalmNode = { - sRel = {0.27,0,0}; + sRel = {0.27,0,0}; ARel = RotMat(90*pi/180, y); AnyDrawSTL DrwSTL = { FileName = "dumbbell.stl"; ScaleXYZ = {0.001, 0.001, 0.001}; RGB = {0.2,0.4,0.5}; - }; - }; - AnyDrawSeg DrwSeg = {}; - - }; // ForeArm - + }; + }; + AnyDrawSeg DrwSeg = {}; + }; // ForeArm + }; // Segs folder + // Joints AnyFolder Jnts = { - //--------------------------------- AnyRevoluteJoint Shoulder = { Axis = z; @@ -115,11 +114,9 @@ Main = { AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; }; // Elbow joint - }; // Jnts folder - + AnyFolder Drivers = { - //--------------------------------- AnyKinEqSimpleDriver ShoulderMotion = { AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; @@ -138,11 +135,11 @@ Main = { }; // Driver folder AnyFolder Muscles = { - // Simple muscle model with constant strength = 300 Newton + // Simple muscle model with constant strength = 400 Newton AnyMuscleModel MusMdl = { F0 = 400; }; - + //--------------------------------- AnyMuscleViaPoint Brachialis = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -150,7 +147,7 @@ Main = { AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint DeltodeusA = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -158,7 +155,7 @@ Main = { AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint DeltodeusB = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -166,7 +163,7 @@ Main = { AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint Brachioradialis = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -174,7 +171,7 @@ Main = { AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint BicepsShort = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -182,7 +179,7 @@ Main = { AnyRefNode &Ins = ..Segs.ForeArm.Biceps; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint TricepsShort = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -190,7 +187,7 @@ Main = { AnyRefNode &Ins = ..Segs.ForeArm.Triceps; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint BicepsLong = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -198,7 +195,7 @@ Main = { AnyRefNode &Ins = ..Segs.ForeArm.Biceps; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint TricepsLong = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -207,25 +204,21 @@ Main = { AnyDrawMuscle DrwMus = {}; }; }; // Muscles folder - + AnyFolder Loads = { - - //--------------------------------- + //--------------------------------- AnyForce3D Dumbbell = { AnyRefNode &PalmNode = ..Segs.ForeArm.PalmNode; F = {0,-100,0}; // Force in Newton }; - }; // Loads folder + }; // Loads folder }; // MyModel - + // The study: Operations to be performed on the model AnyBodyStudy ArmStudy = { AnyFolder &Model = .ArmModel; Gravity = {0.0, -9.81, 0.0}; }; -}; // Main - - - +}; // Main \ No newline at end of file diff --git a/A_Getting_started_anyscript/Downloads/demo.lesson5.any b/A_Getting_started_anyscript/Downloads/demo.lesson5.any index 9eeb35a8..88dc84d6 100644 --- a/A_Getting_started_anyscript/Downloads/demo.lesson5.any +++ b/A_Getting_started_anyscript/Downloads/demo.lesson5.any @@ -91,8 +91,8 @@ Main = { }; // Segs folder + // Joints AnyFolder Jnts = { - //--------------------------------- AnyRevoluteJoint Shoulder = { Axis = z; @@ -105,18 +105,15 @@ Main = { AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; }; // Elbow joint - }; // Jnts folder - - AnyFolder Drivers = { + AnyFolder Drivers = { //--------------------------------- AnyKinEqSimpleDriver ShoulderMotion = { AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; DriverPos = {-100*pi/180}; DriverVel = {30*pi/180}; }; // Shoulder driver - //--------------------------------- AnyKinEqSimpleDriver ElbowMotion = { AnyRevoluteJoint &Jnt = ..Jnts.Elbow; @@ -124,8 +121,7 @@ Main = { DriverVel = {45*pi/180}; }; // Elbow driver }; // Driver folder - - + }; // MyModel // The study: Operations to be performed on the model diff --git a/A_Getting_started_anyscript/Downloads/demo.lesson6.any b/A_Getting_started_anyscript/Downloads/demo.lesson6.any index 7dbe79a9..6fe4581b 100644 --- a/A_Getting_started_anyscript/Downloads/demo.lesson6.any +++ b/A_Getting_started_anyscript/Downloads/demo.lesson6.any @@ -87,15 +87,15 @@ Main = { sRel = {-0.25,0,-0.05}; }; AnyRefNode PalmNode = { - sRel = {0.27,0,0}; - }; + sRel = {0.27,0,0}; + }; AnyDrawSeg DrwSeg = {}; }; // ForeArm }; // Segs folder + // Joints AnyFolder Jnts = { - //--------------------------------- AnyRevoluteJoint Shoulder = { Axis = z; @@ -108,12 +108,11 @@ Main = { AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; }; // Elbow joint - }; // Jnts folder - + AnyFolder Drivers = { - //--------------------------------- + AnyKinEqSimpleDriver ShoulderMotion = { AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; DriverPos = {-100*pi/180}; @@ -131,11 +130,11 @@ Main = { }; // Driver folder AnyFolder Muscles = { - // Simple muscle model with constant strength = 300 Newton + // Simple muscle model with constant strength = 400 Newton AnyMuscleModel MusMdl = { F0 = 400; }; - + //--------------------------------- AnyMuscleViaPoint Brachialis = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -143,7 +142,7 @@ Main = { AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint DeltodeusA = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -151,7 +150,7 @@ Main = { AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint DeltodeusB = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -159,7 +158,7 @@ Main = { AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint Brachioradialis = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -167,7 +166,7 @@ Main = { AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint BicepsShort = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -175,7 +174,7 @@ Main = { AnyRefNode &Ins = ..Segs.ForeArm.Biceps; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint TricepsShort = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -183,7 +182,7 @@ Main = { AnyRefNode &Ins = ..Segs.ForeArm.Triceps; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint BicepsLong = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -191,7 +190,7 @@ Main = { AnyRefNode &Ins = ..Segs.ForeArm.Biceps; AnyDrawMuscle DrwMus = {}; }; - + //--------------------------------- AnyMuscleViaPoint TricepsLong = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; @@ -200,23 +199,20 @@ Main = { AnyDrawMuscle DrwMus = {}; }; }; // Muscles folder - + AnyFolder Loads = { - - //--------------------------------- + //--------------------------------- AnyForce3D Dumbbell = { AnyRefNode &PalmNode = ..Segs.ForeArm.PalmNode; F = {0,-100,0}; // Force in Newton }; - }; // Loads folder� - + }; // Loads folder }; // MyModel - + // The study: Operations to be performed on the model AnyBodyStudy ArmStudy = { AnyFolder &Model = .ArmModel; Gravity = {0.0, -9.81, 0.0}; }; -}; // Main - +}; // Main \ No newline at end of file diff --git a/A_Getting_started_anyscript/Downloads/dumbbell.stl b/A_Getting_started_anyscript/Downloads/dumbbell.stl index b2ccd6e9..0bf361ed 100644 --- a/A_Getting_started_anyscript/Downloads/dumbbell.stl +++ b/A_Getting_started_anyscript/Downloads/dumbbell.stl @@ -1,5798 +1,24922 @@ -solid OBJECT - facet normal -1.000000e+000 -8.940952e-016 0.000000e+000 - outer loop - vertex -8.000000e+001 -1.589412e+001 1.929707e+001 - vertex -8.000000e+001 0.000000e+000 2.500000e+001 - vertex -8.000000e+001 0.000000e+000 0.000000e+000 - endloop - endfacet - facet normal -1.000000e+000 1.343330e-016 8.470694e-016 - outer loop - vertex -8.000000e+001 -2.469144e+001 3.915707e+000 - vertex -8.000000e+001 -1.589412e+001 1.929707e+001 - vertex 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1.950633e-01 8.368745e-01 -5.114601e-01 + outer loop + vertex -6.308658e+01 7.298107e+01 -4.282761e+01 + vertex -6.500000e+01 7.172249e+01 -4.561671e+01 + vertex -6.500000e+01 7.330933e+01 -4.302025e+01 + endloop + endfacet +endsolid Dumbbell \ No newline at end of file diff --git a/A_Getting_started_anyscript/Snippets/lesson1/snip.NewModel.main-1.any b/A_Getting_started_anyscript/Snippets/lesson1/snip.NewModel.main-1.any index aee98e16..48bb4c75 100644 --- a/A_Getting_started_anyscript/Snippets/lesson1/snip.NewModel.main-1.any +++ b/A_Getting_started_anyscript/Snippets/lesson1/snip.NewModel.main-1.any @@ -1,22 +1,22 @@ // Todo: Write a small description of your model here Main = { - //# BEGIN SNIPPET 1 - // The actual body model goes in this folder - AnyFolder §ArmModel§ = { +//# BEGIN SNIPPET 1 +// The actual body model goes in this folder +AnyFolder §ArmModel§ = { - // Global Reference Frame - AnyFixedRefFrame GlobalRef = { + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { - // Todo: Add points for grounding of the model here - - }; - - // Todo: Add the model elements such as - // segments, joints, and muscles here. + // Todo: Add points for grounding of the model here }; - //# END SNIPPET 1 + + // Todo: Add the model elements such as + // segments, joints, and muscles here. + +}; +//# END SNIPPET 1 // The study: Operations to be performed on the model AnyBodyStudy ArmStudy = { AnyFolder &Model = .ArmModel; diff --git a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-2.any b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-2.any index 9b169bf9..71d38ea0 100644 --- a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-2.any +++ b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-2.any @@ -11,27 +11,27 @@ AnyFolder ArmModel = { // Todo: Add points for grounding of the model here }; - //# BEGIN SNIPPET 1 - // Segments - AnyFolder Segs = { - §AnySeg = { - //viewRefFrame.Visible = Off; - //viewNodes.Visible = Off; - //r0 = {0.0, 0.0, 0.0}; - //rDot0 = {0.0, 0.0, 0.0}; - //Axes0 = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0}}; - //omega0 = {0.0, 0.0, 0.0}; - Mass = 0.0; - Jii = {0.0, 0.0, 0.0}; - //Jij = {0.0, 0.0, 0.0}; - //sCoM = {0.0, 0.0, 0.0}; - //JaboutCoMOnOff = Off; - //viewInertia.Visible = Off; - //AnyInertia & = ; - //AnyInertia & = ; You can make any number of AnyInertia objects! - };§ - }; // Segs folder - //# END SNIPPET 1 +//# BEGIN SNIPPET 1 +// Segments +AnyFolder Segs = { + §AnySeg = { + //viewRefFrame.Visible = Off; + //viewNodes.Visible = Off; + //r0 = {0.0, 0.0, 0.0}; + //rDot0 = {0.0, 0.0, 0.0}; + //Axes0 = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0}}; + //omega0 = {0.0, 0.0, 0.0}; + Mass = 0.0; + Jii = {0.0, 0.0, 0.0}; + //Jij = {0.0, 0.0, 0.0}; + //sCoM = {0.0, 0.0, 0.0}; + //JaboutCoMOnOff = Off; + //viewInertia.Visible = Off; + //AnyInertia & = ; + //AnyInertia & = ; You can make any number of AnyInertia objects! + };§ +}; // Segs folder +//# END SNIPPET 1 }; // The study: Operations to be performed on the model diff --git a/A_Getting_started_anyscript/Snippets/lesson4/snip.NewModel.main-1.any b/A_Getting_started_anyscript/Snippets/lesson4/snip.NewModel.main-1.any index 8980201e..94e1f297 100644 --- a/A_Getting_started_anyscript/Snippets/lesson4/snip.NewModel.main-1.any +++ b/A_Getting_started_anyscript/Snippets/lesson4/snip.NewModel.main-1.any @@ -105,9 +105,25 @@ Main = { AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; }; // Elbow joint - - }; // Jnts folder - +//# BEGIN SNIPPET 1 +}; // Jnts folder + +§AnyFolder Drivers = { + //--------------------------------- + AnyKinEqSimpleDriver ShoulderMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + }; // Shoulder driver + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Elbow; + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + }; // Elbow driver +}; // Driver folder§ +//# END SNIPPET 1 + }; // MyModel // The study: Operations to be performed on the model diff --git a/A_Getting_started_anyscript/Snippets/lesson4/snip.NewModel.main-2.any b/A_Getting_started_anyscript/Snippets/lesson4/snip.NewModel.main-2.any new file mode 100644 index 00000000..d01f2f1f --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson4/snip.NewModel.main-2.any @@ -0,0 +1,137 @@ +// Todo: Write a small description of your model here + +Main = { + + // The actual body model goes in this folder + AnyFolder ArmModel = { + + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { + + AnyDrawRefFrame DrwGlobalRef = { + ScaleXYZ = {0.1, 0.1, 0.1}; + RGB = {0,1,0}; + }; + AnyRefNode Shoulder = { + sRel = {0,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; + }; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; + }; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; + }; + }; // Global reference frame + + // Segments + AnyFolder Segs = { + AnySeg UpperArm = { + r0 = {0, 0.3, 0}; + Axes0 =RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + AnyDrawSeg drw = {}; + + AnyRefNode ShoulderNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode ElbowNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; + }; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; + }; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; + }; + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; // UpperArm + + AnySeg ForeArm = { + r0 = {0.3, 0, 0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + AnyRefNode ElbowNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode HandNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; + }; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; + }; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; + }; + AnyDrawSeg DrwSeg = {}; + }; // ForeArm + + }; // Segs folder + + // Joints + AnyFolder Jnts = { + //--------------------------------- + AnyRevoluteJoint Shoulder = { + Axis = z; + AnyRefNode &GroundNode = ..GlobalRef.Shoulder; + AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + }; // Shoulder joint + + AnyRevoluteJoint Elbow = { + Axis = z; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; + AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; + }; // Elbow joint + }; // Jnts folder + + AnyFolder Drivers = { + //--------------------------------- + AnyKinEqSimpleDriver ShoulderMotion = { +//# BEGIN SNIPPET 1 +AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; +//# END SNIPPET 1 + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + }; // Shoulder driver + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { +//# BEGIN SNIPPET 2 +AnyRevoluteJoint &Jnt = ..Jnts.Elbow; +//# END SNIPPET 2 + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + }; // Elbow driver + }; // Driver folder + + }; // MyModel + + // The study: Operations to be performed on the model + AnyBodyStudy ArmStudy = { + AnyFolder &Model = .ArmModel; + Gravity = {0.0, -9.81, 0.0}; + }; + +}; // Main diff --git a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-1.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-1.any new file mode 100644 index 00000000..923ef2f3 --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-1.any @@ -0,0 +1,139 @@ +// Todo: Write a small description of your model here + +Main = { + + // The actual body model goes in this folder + AnyFolder ArmModel = { + + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { + + AnyDrawRefFrame DrwGlobalRef = { + ScaleXYZ = {0.1, 0.1, 0.1}; + RGB = {0,1,0}; + }; + AnyRefNode Shoulder = { + sRel = {0,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; + }; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; + }; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; + }; + }; // Global reference frame + + // Segments + AnyFolder Segs = { + AnySeg UpperArm = { + r0 = {0, 0.3, 0}; + Axes0 =RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + AnyDrawSeg drw = {}; + + AnyRefNode ShoulderNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode ElbowNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; + }; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; + }; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; + }; + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; // UpperArm + + AnySeg ForeArm = { + r0 = {0.3, 0, 0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + AnyRefNode ElbowNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode HandNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; + }; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; + }; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; + }; + AnyDrawSeg DrwSeg = {}; + }; // ForeArm + + }; // Segs folder + + // Joints + AnyFolder Jnts = { + //--------------------------------- + AnyRevoluteJoint Shoulder = { + Axis = z; + AnyRefNode &GroundNode = ..GlobalRef.Shoulder; + AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + }; // Shoulder joint + + AnyRevoluteJoint Elbow = { + Axis = z; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; + AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; + }; // Elbow joint + }; // Jnts folder + + AnyFolder Drivers = { + //--------------------------------- + AnyKinEqSimpleDriver ShoulderMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + }; // Shoulder driver + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Elbow; + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + }; // Elbow driver +//# BEGIN SNIPPET 1 +}; // Driver folder + +§AnyFolder Muscles = { + +}; // Muscles folder§ +//# END SNIPPET 1 + + }; // MyModel + + // The study: Operations to be performed on the model + AnyBodyStudy ArmStudy = { + AnyFolder &Model = .ArmModel; + Gravity = {0.0, -9.81, 0.0}; + }; + +}; // Main diff --git a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-2.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-2.any new file mode 100644 index 00000000..2615c50a --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-2.any @@ -0,0 +1,141 @@ +// Todo: Write a small description of your model here + +Main = { + + // The actual body model goes in this folder + AnyFolder ArmModel = { + + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { + + AnyDrawRefFrame DrwGlobalRef = { + ScaleXYZ = {0.1, 0.1, 0.1}; + RGB = {0,1,0}; + }; + AnyRefNode Shoulder = { + sRel = {0,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; + }; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; + }; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; + }; + }; // Global reference frame + + // Segments + AnyFolder Segs = { + AnySeg UpperArm = { + r0 = {0, 0.3, 0}; + Axes0 =RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + AnyDrawSeg drw = {}; + + AnyRefNode ShoulderNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode ElbowNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; + }; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; + }; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; + }; + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; // UpperArm + + AnySeg ForeArm = { + r0 = {0.3, 0, 0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + AnyRefNode ElbowNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode HandNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; + }; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; + }; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; + }; + AnyDrawSeg DrwSeg = {}; + }; // ForeArm + + }; // Segs folder + + // Joints + AnyFolder Jnts = { + //--------------------------------- + AnyRevoluteJoint Shoulder = { + Axis = z; + AnyRefNode &GroundNode = ..GlobalRef.Shoulder; + AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + }; // Shoulder joint + + AnyRevoluteJoint Elbow = { + Axis = z; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; + AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; + }; // Elbow joint + }; // Jnts folder + + AnyFolder Drivers = { + //--------------------------------- + AnyKinEqSimpleDriver ShoulderMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + }; // Shoulder driver + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Elbow; + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + }; // Elbow driver + }; // Driver folder +//# BEGIN SNIPPET 1 +AnyFolder Muscles = { + §// Simple muscle model with constant strength = 400 Newton + AnyMuscleModel MusMdl = { + F0 = 400; + };§ +}; // Muscles folder +//# END SNIPPET 1 + + }; // MyModel + + // The study: Operations to be performed on the model + AnyBodyStudy ArmStudy = { + AnyFolder &Model = .ArmModel; + Gravity = {0.0, -9.81, 0.0}; + }; + +}; // Main diff --git a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-3.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-3.any new file mode 100644 index 00000000..a8be1858 --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-3.any @@ -0,0 +1,150 @@ +// Todo: Write a small description of your model here + +Main = { + + // The actual body model goes in this folder + AnyFolder ArmModel = { + + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { + + AnyDrawRefFrame DrwGlobalRef = { + ScaleXYZ = {0.1, 0.1, 0.1}; + RGB = {0,1,0}; + }; + AnyRefNode Shoulder = { + sRel = {0,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; + }; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; + }; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; + }; + }; // Global reference frame + + // Segments + AnyFolder Segs = { + AnySeg UpperArm = { + r0 = {0, 0.3, 0}; + Axes0 =RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + AnyDrawSeg drw = {}; + + AnyRefNode ShoulderNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode ElbowNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; + }; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; + }; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; + }; + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; // UpperArm + + AnySeg ForeArm = { + r0 = {0.3, 0, 0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + AnyRefNode ElbowNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode HandNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; + }; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; + }; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; + }; + AnyDrawSeg DrwSeg = {}; + }; // ForeArm + + }; // Segs folder + + // Joints + AnyFolder Jnts = { + //--------------------------------- + AnyRevoluteJoint Shoulder = { + Axis = z; + AnyRefNode &GroundNode = ..GlobalRef.Shoulder; + AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + }; // Shoulder joint + + AnyRevoluteJoint Elbow = { + Axis = z; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; + AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; + }; // Elbow joint + }; // Jnts folder + + AnyFolder Drivers = { + //--------------------------------- + AnyKinEqSimpleDriver ShoulderMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + }; // Shoulder driver + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Elbow; + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + }; // Elbow driver + }; // Driver folder + +//# BEGIN SNIPPET 1 +AnyFolder Muscles = { + // Simple muscle model with constant strength = 400 Newton + AnyMuscleModel MusMdl = { + F0 = 400; + }; + + §//--------------------------------- + AnyMuscleViaPoint Brachialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; + AnyDrawMuscle DrwMus = {}; + };§ +}; // Muscles folder +//# END SNIPPET 1 + + }; // MyModel + + // The study: Operations to be performed on the model + AnyBodyStudy ArmStudy = { + AnyFolder &Model = .ArmModel; + Gravity = {0.0, -9.81, 0.0}; + }; + +}; // Main diff --git a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-4.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-4.any new file mode 100644 index 00000000..ad13a7b1 --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-4.any @@ -0,0 +1,152 @@ +// Todo: Write a small description of your model here + +Main = { + + // The actual body model goes in this folder + AnyFolder ArmModel = { + + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { + + AnyDrawRefFrame DrwGlobalRef = { + ScaleXYZ = {0.1, 0.1, 0.1}; + RGB = {0,1,0}; + }; + AnyRefNode Shoulder = { + sRel = {0,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; + }; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; + }; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; + }; + }; // Global reference frame + + // Segments + AnyFolder Segs = { + AnySeg UpperArm = { + r0 = {0, 0.3, 0}; + Axes0 =RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + AnyDrawSeg drw = {}; + + AnyRefNode ShoulderNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode ElbowNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; + }; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; + }; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; + }; + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; // UpperArm + + AnySeg ForeArm = { + r0 = {0.3, 0, 0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + AnyRefNode ElbowNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode HandNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; + }; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; + }; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; + }; + AnyDrawSeg DrwSeg = {}; + }; // ForeArm + + }; // Segs folder + + // Joints + AnyFolder Jnts = { + //--------------------------------- + AnyRevoluteJoint Shoulder = { + Axis = z; + AnyRefNode &GroundNode = ..GlobalRef.Shoulder; + AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + }; // Shoulder joint + + AnyRevoluteJoint Elbow = { + Axis = z; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; + AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; + }; // Elbow joint + }; // Jnts folder + + AnyFolder Drivers = { + //--------------------------------- + AnyKinEqSimpleDriver ShoulderMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + }; // Shoulder driver + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Elbow; + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + }; // Elbow driver + }; // Driver folder + + AnyFolder Muscles = { + // Simple muscle model with constant strength = 400 Newton + AnyMuscleModel MusMdl = { + F0 = 400; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachialis = { +//# BEGIN SNIPPET 1 +AnyMuscleModel &MusMdl = ..Muscles.MusMdl; +//# END SNIPPET 1 + AnyRefNode &Org = ..Segs.UpperArm.Brachialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; +//# BEGIN SNIPPET 2 +AnyDrawMuscle DrwMus = {}; +//# END SNIPPET 2 + }; + }; // Muscles folder + + }; // MyModel + + // The study: Operations to be performed on the model + AnyBodyStudy ArmStudy = { + AnyFolder &Model = .ArmModel; + Gravity = {0.0, -9.81, 0.0}; + }; + +}; // Main diff --git a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-5.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-5.any new file mode 100644 index 00000000..0870b638 --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-5.any @@ -0,0 +1,204 @@ +// Todo: Write a small description of your model here + +Main = { + + // The actual body model goes in this folder + AnyFolder ArmModel = { + + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { + + AnyDrawRefFrame DrwGlobalRef = { + ScaleXYZ = {0.1, 0.1, 0.1}; + RGB = {0,1,0}; + }; + AnyRefNode Shoulder = { + sRel = {0,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; + }; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; + }; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; + }; + }; // Global reference frame + + // Segments + AnyFolder Segs = { + AnySeg UpperArm = { + r0 = {0, 0.3, 0}; + Axes0 =RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + AnyDrawSeg drw = {}; + + AnyRefNode ShoulderNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode ElbowNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; + }; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; + }; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; + }; + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; // UpperArm + + AnySeg ForeArm = { + r0 = {0.3, 0, 0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + AnyRefNode ElbowNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode HandNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; + }; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; + }; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; + }; + AnyDrawSeg DrwSeg = {}; + }; // ForeArm + + }; // Segs folder + + // Joints + AnyFolder Jnts = { + //--------------------------------- + AnyRevoluteJoint Shoulder = { + Axis = z; + AnyRefNode &GroundNode = ..GlobalRef.Shoulder; + AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + }; // Shoulder joint + + AnyRevoluteJoint Elbow = { + Axis = z; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; + AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; + }; // Elbow joint + }; // Jnts folder + + AnyFolder Drivers = { + //--------------------------------- + AnyKinEqSimpleDriver ShoulderMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + }; // Shoulder driver + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Elbow; + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + }; // Elbow driver + }; // Driver folder + + AnyFolder Muscles = { + // Simple muscle model with constant strength = 400 Newton + AnyMuscleModel MusMdl = { + F0 = 400; + }; +//# BEGIN SNIPPET 1 + //--------------------------------- + AnyMuscleViaPoint Brachialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; + AnyDrawMuscle DrwMus = {}; + }; + + §//--------------------------------- + AnyMuscleViaPoint DeltodeusA = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusA; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusB = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusB; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachioradialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.BicepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.TricepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + };§ +}; // Muscles folder +//# END SNIPPET 1 + }; // MyModel + + // The study: Operations to be performed on the model + AnyBodyStudy ArmStudy = { + AnyFolder &Model = .ArmModel; + Gravity = {0.0, -9.81, 0.0}; + }; + +}; // Main diff --git a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-6.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-6.any new file mode 100644 index 00000000..3bae9655 --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-6.any @@ -0,0 +1,208 @@ +// Todo: Write a small description of your model here + +Main = { + + // The actual body model goes in this folder + AnyFolder ArmModel = { + + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { + + AnyDrawRefFrame DrwGlobalRef = { + ScaleXYZ = {0.1, 0.1, 0.1}; + RGB = {0,1,0}; + }; + AnyRefNode Shoulder = { + sRel = {0,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; + }; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; + }; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; + }; + }; // Global reference frame + + // Segments + AnyFolder Segs = { + AnySeg UpperArm = { + r0 = {0, 0.3, 0}; + Axes0 =RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + AnyDrawSeg drw = {}; + + AnyRefNode ShoulderNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode ElbowNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; + }; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; + }; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; + }; + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; // UpperArm + + AnySeg ForeArm = { + r0 = {0.3, 0, 0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + AnyRefNode ElbowNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode HandNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; + }; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; + }; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; + }; + AnyDrawSeg DrwSeg = {}; + }; // ForeArm + + }; // Segs folder + + // Joints + AnyFolder Jnts = { + //--------------------------------- + AnyRevoluteJoint Shoulder = { + Axis = z; + AnyRefNode &GroundNode = ..GlobalRef.Shoulder; + AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + }; // Shoulder joint + + AnyRevoluteJoint Elbow = { + Axis = z; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; + AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; + }; // Elbow joint + }; // Jnts folder + + AnyFolder Drivers = { + //--------------------------------- + //# BEGIN SNIPPET 1 + AnyKinEqSimpleDriver ShoulderMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + §Reaction.Type = {Off};§ + }; // Shoulder driver + + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Elbow; + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + §Reaction.Type = {Off};§ + }; // Elbow driver +}; // Driver folder +//# END SNIPPET 1 + + AnyFolder Muscles = { + // Simple muscle model with constant strength = 400 Newton + AnyMuscleModel MusMdl = { + F0 = 400; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusA = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusA; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusB = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusB; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachioradialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.BicepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.TricepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + }; // Muscles folder + }; // MyModel + + // The study: Operations to be performed on the model + AnyBodyStudy ArmStudy = { + AnyFolder &Model = .ArmModel; + Gravity = {0.0, -9.81, 0.0}; + }; + +}; // Main diff --git a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-7.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-7.any new file mode 100644 index 00000000..cc673d36 --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-7.any @@ -0,0 +1,222 @@ +// Todo: Write a small description of your model here + +Main = { + + // The actual body model goes in this folder + AnyFolder ArmModel = { + + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { + + AnyDrawRefFrame DrwGlobalRef = { + ScaleXYZ = {0.1, 0.1, 0.1}; + RGB = {0,1,0}; + }; + AnyRefNode Shoulder = { + sRel = {0,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; + }; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; + }; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; + }; + }; // Global reference frame + + // Segments + AnyFolder Segs = { + AnySeg UpperArm = { + r0 = {0, 0.3, 0}; + Axes0 =RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + AnyDrawSeg drw = {}; + + AnyRefNode ShoulderNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode ElbowNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; + }; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; + }; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; + }; + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; // UpperArm + + AnySeg ForeArm = { + r0 = {0.3, 0, 0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + AnyRefNode ElbowNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode HandNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; + }; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; + }; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; + }; + AnyDrawSeg DrwSeg = {}; +//# BEGIN SNIPPET 1 + AnyRefNode PalmNode = { + sRel = {0.27,0,0}; + }; +}; // ForeArm +//# END SNIPPET 1 + + }; // Segs folder + + // Joints + AnyFolder Jnts = { + //--------------------------------- + AnyRevoluteJoint Shoulder = { + Axis = z; + AnyRefNode &GroundNode = ..GlobalRef.Shoulder; + AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + }; // Shoulder joint + + AnyRevoluteJoint Elbow = { + Axis = z; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; + AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; + }; // Elbow joint + }; // Jnts folder + + AnyFolder Drivers = { + //--------------------------------- + + AnyKinEqSimpleDriver ShoulderMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + Reaction.Type = {Off}; + }; // Shoulder driver + + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Elbow; + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + Reaction.Type = {Off}; + }; // Elbow driver + }; // Driver folder + + AnyFolder Muscles = { + // Simple muscle model with constant strength = 400 Newton + AnyMuscleModel MusMdl = { + F0 = 400; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusA = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusA; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusB = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusB; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachioradialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.BicepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.TricepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + }; // Muscles folder + +//# BEGIN SNIPPET 2 + §AnyFolder Loads = { + //--------------------------------- + AnyForce3D Dumbbell = { + AnyRefNode &PalmNode = ..Segs.ForeArm.PalmNode; + F = {0,-100,0}; // Force in Newton + }; + }; // Loads folder§ +}; // MyModel +//# END SNIPPET 2 + + // The study: Operations to be performed on the model + AnyBodyStudy ArmStudy = { + AnyFolder &Model = .ArmModel; + Gravity = {0.0, -9.81, 0.0}; + }; + +}; // Main diff --git a/A_Getting_started_anyscript/Snippets/lesson6/dumbbell.stl b/A_Getting_started_anyscript/Snippets/lesson6/dumbbell.stl new file mode 100644 index 00000000..0bf361ed --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson6/dumbbell.stl @@ -0,0 +1,24922 @@ +solid Dumbbell + facet normal -1.177702e-16 -2.742216e-01 -9.616665e-01 + outer loop + vertex 6.000000e+01 -7.550564e+00 -1.743528e+01 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-5.653109e+01 + vertex -6.500000e+01 6.781930e+01 -5.124005e+01 + endloop + endfacet + facet normal 1.947743e-01 8.156491e-01 -5.447747e-01 + outer loop + vertex -6.308658e+01 6.751562e+01 -5.101062e+01 + vertex -6.500000e+01 6.781930e+01 -5.124005e+01 + vertex -6.308658e+01 7.298107e+01 -4.282761e+01 + endloop + endfacet + facet normal 2.792423e-01 7.888214e-01 -5.475259e-01 + outer loop + vertex -6.308658e+01 7.298107e+01 -4.282761e+01 + vertex -6.500000e+01 6.781930e+01 -5.124005e+01 + vertex -6.500000e+01 7.172249e+01 -4.561671e+01 + endloop + endfacet + facet normal 1.950633e-01 8.368745e-01 -5.114601e-01 + outer loop + vertex -6.308658e+01 7.298107e+01 -4.282761e+01 + vertex -6.500000e+01 7.172249e+01 -4.561671e+01 + vertex -6.500000e+01 7.330933e+01 -4.302025e+01 + endloop + endfacet +endsolid Dumbbell \ No newline at end of file diff --git a/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-1.any b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-1.any new file mode 100644 index 00000000..389bb850 --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-1.any @@ -0,0 +1,223 @@ +// Todo: Write a small description of your model here + +Main = { + + // The actual body model goes in this folder + AnyFolder ArmModel = { + + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { + + AnyDrawRefFrame DrwGlobalRef = { + ScaleXYZ = {0.1, 0.1, 0.1}; + RGB = {0,1,0}; + }; + AnyRefNode Shoulder = { + sRel = {0,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; + }; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; + }; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; + }; + }; // Global reference frame + + // Segments + AnyFolder Segs = { + AnySeg UpperArm = { + r0 = {0, 0.3, 0}; + Axes0 =RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + AnyDrawSeg drw = {}; + + AnyRefNode ShoulderNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode ElbowNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; + }; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; + }; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; + }; + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; // UpperArm + + AnySeg ForeArm = { + r0 = {0.3, 0, 0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + AnyRefNode ElbowNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode HandNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; + }; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; + }; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; + }; + AnyRefNode PalmNode = { + sRel = {0.27,0,0}; + }; +//# BEGIN SNIPPET 1 + AnyDrawSeg DrwSeg = {}; + §AnyDrawSTL DrwSTL = { + FileName = "dumbbell.stl"; + };§ +}; // ForeArm +//# END SNIPPET 1 + + }; // Segs folder + + // Joints + AnyFolder Jnts = { + //--------------------------------- + AnyRevoluteJoint Shoulder = { + Axis = z; + AnyRefNode &GroundNode = ..GlobalRef.Shoulder; + AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + }; // Shoulder joint + + AnyRevoluteJoint Elbow = { + Axis = z; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; + AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; + }; // Elbow joint + }; // Jnts folder + + AnyFolder Drivers = { + //--------------------------------- + + AnyKinEqSimpleDriver ShoulderMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + Reaction.Type = {Off}; + }; // Shoulder driver + + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Elbow; + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + Reaction.Type = {Off}; + }; // Elbow driver + }; // Driver folder + + AnyFolder Muscles = { + // Simple muscle model with constant strength = 400 Newton + AnyMuscleModel MusMdl = { + F0 = 400; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusA = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusA; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusB = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusB; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachioradialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.BicepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.TricepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + }; // Muscles folder + + AnyFolder Loads = { + //--------------------------------- + AnyForce3D Dumbbell = { + AnyRefNode &PalmNode = ..Segs.ForeArm.PalmNode; + F = {0,-100,0}; // Force in Newton + }; + }; // Loads folder + }; // MyModel + + // The study: Operations to be performed on the model + AnyBodyStudy ArmStudy = { + AnyFolder &Model = .ArmModel; + Gravity = {0.0, -9.81, 0.0}; + }; + +}; // Main \ No newline at end of file diff --git a/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-2.any b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-2.any new file mode 100644 index 00000000..1124009c --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-2.any @@ -0,0 +1,224 @@ +// Todo: Write a small description of your model here + +Main = { + + // The actual body model goes in this folder + AnyFolder ArmModel = { + + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { + + AnyDrawRefFrame DrwGlobalRef = { + ScaleXYZ = {0.1, 0.1, 0.1}; + RGB = {0,1,0}; + }; + AnyRefNode Shoulder = { + sRel = {0,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; + }; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; + }; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; + }; + }; // Global reference frame + + // Segments + AnyFolder Segs = { + AnySeg UpperArm = { + r0 = {0, 0.3, 0}; + Axes0 =RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + AnyDrawSeg drw = {}; + + AnyRefNode ShoulderNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode ElbowNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; + }; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; + }; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; + }; + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; // UpperArm + + AnySeg ForeArm = { + r0 = {0.3, 0, 0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + AnyRefNode ElbowNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode HandNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; + }; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; + }; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; + }; + AnyRefNode PalmNode = { + sRel = {0.27,0,0}; + }; + AnyDrawSeg DrwSeg = {}; +//# BEGIN SNIPPET 1 +AnyDrawSTL DrwSTL = { + FileName = "dumbbell.stl"; + §ScaleXYZ = {0.001, 0.001, 0.001};§ +}; +//# END SNIPPET 1 + }; // ForeArm + + }; // Segs folder + + // Joints + AnyFolder Jnts = { + //--------------------------------- + AnyRevoluteJoint Shoulder = { + Axis = z; + AnyRefNode &GroundNode = ..GlobalRef.Shoulder; + AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + }; // Shoulder joint + + AnyRevoluteJoint Elbow = { + Axis = z; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; + AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; + }; // Elbow joint + }; // Jnts folder + + AnyFolder Drivers = { + //--------------------------------- + + AnyKinEqSimpleDriver ShoulderMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + Reaction.Type = {Off}; + }; // Shoulder driver + + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Elbow; + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + Reaction.Type = {Off}; + }; // Elbow driver + }; // Driver folder + + AnyFolder Muscles = { + // Simple muscle model with constant strength = 400 Newton + AnyMuscleModel MusMdl = { + F0 = 400; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusA = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusA; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusB = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusB; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachioradialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.BicepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.TricepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + }; // Muscles folder + + AnyFolder Loads = { + //--------------------------------- + AnyForce3D Dumbbell = { + AnyRefNode &PalmNode = ..Segs.ForeArm.PalmNode; + F = {0,-100,0}; // Force in Newton + }; + }; // Loads folder + }; // MyModel + + // The study: Operations to be performed on the model + AnyBodyStudy ArmStudy = { + AnyFolder &Model = .ArmModel; + Gravity = {0.0, -9.81, 0.0}; + }; + +}; // Main \ No newline at end of file diff --git a/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-3.any b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-3.any new file mode 100644 index 00000000..55cb78cd --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-3.any @@ -0,0 +1,225 @@ +// Todo: Write a small description of your model here + +Main = { + + // The actual body model goes in this folder + AnyFolder ArmModel = { + + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { + + AnyDrawRefFrame DrwGlobalRef = { + ScaleXYZ = {0.1, 0.1, 0.1}; + RGB = {0,1,0}; + }; + AnyRefNode Shoulder = { + sRel = {0,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; + }; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; + }; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; + }; + }; // Global reference frame + + // Segments + AnyFolder Segs = { + AnySeg UpperArm = { + r0 = {0, 0.3, 0}; + Axes0 =RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + AnyDrawSeg drw = {}; + + AnyRefNode ShoulderNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode ElbowNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; + }; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; + }; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; + }; + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; // UpperArm + + AnySeg ForeArm = { + r0 = {0.3, 0, 0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + AnyRefNode ElbowNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode HandNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; + }; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; + }; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; + }; +//# BEGIN SNIPPET 1 + AnyRefNode PalmNode = { + sRel = {0.27,0,0}; + §AnyDrawSTL DrwSTL = { + FileName = "dumbbell.stl"; + ScaleXYZ = {0.001, 0.001, 0.001}; + };§ + }; + + AnyDrawSeg DrwSeg = {}; +}; // ForeArm +//# END SNIPPET 1 + + }; // Segs folder + + // Joints + AnyFolder Jnts = { + //--------------------------------- + AnyRevoluteJoint Shoulder = { + Axis = z; + AnyRefNode &GroundNode = ..GlobalRef.Shoulder; + AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + }; // Shoulder joint + + AnyRevoluteJoint Elbow = { + Axis = z; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; + AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; + }; // Elbow joint + }; // Jnts folder + + AnyFolder Drivers = { + //--------------------------------- + + AnyKinEqSimpleDriver ShoulderMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + Reaction.Type = {Off}; + }; // Shoulder driver + + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Elbow; + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + Reaction.Type = {Off}; + }; // Elbow driver + }; // Driver folder + + AnyFolder Muscles = { + // Simple muscle model with constant strength = 400 Newton + AnyMuscleModel MusMdl = { + F0 = 400; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusA = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusA; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusB = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusB; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachioradialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.BicepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.TricepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + }; // Muscles folder + + AnyFolder Loads = { + //--------------------------------- + AnyForce3D Dumbbell = { + AnyRefNode &PalmNode = ..Segs.ForeArm.PalmNode; + F = {0,-100,0}; // Force in Newton + }; + }; // Loads folder + }; // MyModel + + // The study: Operations to be performed on the model + AnyBodyStudy ArmStudy = { + AnyFolder &Model = .ArmModel; + Gravity = {0.0, -9.81, 0.0}; + }; + +}; // Main \ No newline at end of file diff --git a/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-4.any b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-4.any new file mode 100644 index 00000000..d5e2f0de --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-4.any @@ -0,0 +1,226 @@ +// Todo: Write a small description of your model here + +Main = { + + // The actual body model goes in this folder + AnyFolder ArmModel = { + + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { + + AnyDrawRefFrame DrwGlobalRef = { + ScaleXYZ = {0.1, 0.1, 0.1}; + RGB = {0,1,0}; + }; + AnyRefNode Shoulder = { + sRel = {0,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; + }; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; + }; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; + }; + }; // Global reference frame + + // Segments + AnyFolder Segs = { + AnySeg UpperArm = { + r0 = {0, 0.3, 0}; + Axes0 =RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + AnyDrawSeg drw = {}; + + AnyRefNode ShoulderNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode ElbowNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; + }; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; + }; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; + }; + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; // UpperArm + + AnySeg ForeArm = { + r0 = {0.3, 0, 0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + AnyRefNode ElbowNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode HandNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; + }; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; + }; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; + }; +//# BEGIN SNIPPET 1 +AnyRefNode PalmNode = { + sRel = {0.27,0,0}; + §ARel = RotMat(90*pi/180, y);§ + AnyDrawSTL DrwSTL = { + FileName = "dumbbell.stl"; + ScaleXYZ = {0.001, 0.001, 0.001}; + }; +}; +//# END SNIPPET 1 + AnyDrawSeg DrwSeg = {}; + }; // ForeArm + + + }; // Segs folder + + // Joints + AnyFolder Jnts = { + //--------------------------------- + AnyRevoluteJoint Shoulder = { + Axis = z; + AnyRefNode &GroundNode = ..GlobalRef.Shoulder; + AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + }; // Shoulder joint + + AnyRevoluteJoint Elbow = { + Axis = z; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; + AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; + }; // Elbow joint + }; // Jnts folder + + AnyFolder Drivers = { + //--------------------------------- + + AnyKinEqSimpleDriver ShoulderMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + Reaction.Type = {Off}; + }; // Shoulder driver + + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Elbow; + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + Reaction.Type = {Off}; + }; // Elbow driver + }; // Driver folder + + AnyFolder Muscles = { + // Simple muscle model with constant strength = 400 Newton + AnyMuscleModel MusMdl = { + F0 = 400; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusA = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusA; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusB = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusB; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachioradialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.BicepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.TricepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + }; // Muscles folder + + AnyFolder Loads = { + //--------------------------------- + AnyForce3D Dumbbell = { + AnyRefNode &PalmNode = ..Segs.ForeArm.PalmNode; + F = {0,-100,0}; // Force in Newton + }; + }; // Loads folder + }; // MyModel + + // The study: Operations to be performed on the model + AnyBodyStudy ArmStudy = { + AnyFolder &Model = .ArmModel; + Gravity = {0.0, -9.81, 0.0}; + }; + +}; // Main \ No newline at end of file diff --git a/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-5.any b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-5.any new file mode 100644 index 00000000..d9696803 --- /dev/null +++ b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-5.any @@ -0,0 +1,227 @@ +// Todo: Write a small description of your model here + +Main = { + + // The actual body model goes in this folder + AnyFolder ArmModel = { + + // Global Reference Frame + AnyFixedRefFrame GlobalRef = { + + AnyDrawRefFrame DrwGlobalRef = { + ScaleXYZ = {0.1, 0.1, 0.1}; + RGB = {0,1,0}; + }; + AnyRefNode Shoulder = { + sRel = {0,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; + }; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; + }; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; + }; + }; // Global reference frame + + // Segments + AnyFolder Segs = { + AnySeg UpperArm = { + r0 = {0, 0.3, 0}; + Axes0 =RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + AnyDrawSeg drw = {}; + + AnyRefNode ShoulderNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode ElbowNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; + }; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; + }; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; + }; + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; // UpperArm + + AnySeg ForeArm = { + r0 = {0.3, 0, 0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + AnyRefNode ElbowNode = { + sRel = {-0.2,0,0}; + }; + AnyRefNode HandNode = { + sRel = {0.2,0,0}; + }; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; + }; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; + }; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; + }; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; + }; + AnyRefNode PalmNode = { + sRel = {0.27,0,0}; + ARel = RotMat(90*pi/180, y); +//# BEGIN SNIPPET 1 +AnyDrawSTL DrwSTL = { + FileName = "dumbbell.stl"; + ScaleXYZ = {0.001, 0.001, 0.001}; + §RGB = {0.2,0.4,0.5};§ +}; +//# END SNIPPET 1 + }; + AnyDrawSeg DrwSeg = {}; + }; // ForeArm + + + }; // Segs folder + + // Joints + AnyFolder Jnts = { + //--------------------------------- + AnyRevoluteJoint Shoulder = { + Axis = z; + AnyRefNode &GroundNode = ..GlobalRef.Shoulder; + AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + }; // Shoulder joint + + AnyRevoluteJoint Elbow = { + Axis = z; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; + AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; + }; // Elbow joint + }; // Jnts folder + + AnyFolder Drivers = { + //--------------------------------- + + AnyKinEqSimpleDriver ShoulderMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; + DriverPos = {-100*pi/180}; + DriverVel = {30*pi/180}; + Reaction.Type = {Off}; + }; // Shoulder driver + + //--------------------------------- + AnyKinEqSimpleDriver ElbowMotion = { + AnyRevoluteJoint &Jnt = ..Jnts.Elbow; + DriverPos = {90*pi/180}; + DriverVel = {45*pi/180}; + Reaction.Type = {Off}; + }; // Elbow driver + }; // Driver folder + + AnyFolder Muscles = { + // Simple muscle model with constant strength = 400 Newton + AnyMuscleModel MusMdl = { + F0 = 400; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusA = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusA; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint DeltodeusB = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.DeltodeusB; + AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint Brachioradialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsShort = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint BicepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.BicepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Biceps; + AnyDrawMuscle DrwMus = {}; + }; + + //--------------------------------- + AnyMuscleViaPoint TricepsLong = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..GlobalRef.TricepsLong; + AnyRefNode &Ins = ..Segs.ForeArm.Triceps; + AnyDrawMuscle DrwMus = {}; + }; + }; // Muscles folder + + AnyFolder Loads = { + //--------------------------------- + AnyForce3D Dumbbell = { + AnyRefNode &PalmNode = ..Segs.ForeArm.PalmNode; + F = {0,-100,0}; // Force in Newton + }; + }; // Loads folder + }; // MyModel + + // The study: Operations to be performed on the model + AnyBodyStudy ArmStudy = { + AnyFolder &Model = .ArmModel; + Gravity = {0.0, -9.81, 0.0}; + }; + +}; // Main \ No newline at end of file diff --git a/A_Getting_started_anyscript/_static/lesson1/image2.png b/A_Getting_started_anyscript/_static/lesson1/image2.png index 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