tutorials/A_Getting_started_anyscript/Downloads/demo.lesson5.any at 0803234ad426fa640463dc5292a2ce8d65a2836a · AnyBody/tutorials · GitHub

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// 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 = {
      //---------------------------------
      AnyKinDriver ShoulderMotion = {
        AnyRevoluteJoint &Jnt = ..Jnts.Shoulder;
        DriverPos0 = {-100*pi/180};
        DriverVel0 = {30*pi/180};
      }; // Shoulder driver
      //---------------------------------
      AnyKinDriver ElbowMotion = {
        AnyRevoluteJoint &Jnt = ..Jnts.Elbow;
        DriverPos0 = {90*pi/180};
        DriverVel0 = {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