diff --git a/A_Getting_started_anyscript/Downloads/demo.arm2d.any b/A_Getting_started_anyscript/Downloads/demo.arm2d.any index 15c68825..25c07e82 100644 --- a/A_Getting_started_anyscript/Downloads/demo.arm2d.any +++ b/A_Getting_started_anyscript/Downloads/demo.arm2d.any @@ -1,90 +1,97 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; }; AnyRefNode PalmNode = { sRel = {0.27,0,0}; @@ -95,20 +102,18 @@ Main = { RGB = {0.2,0.4,0.5}; }; }; - AnyDrawSeg DrwSeg = {}; - }; // ForeArm - + }; // ForeArm }; // Segs folder - + // Joints AnyFolder Jnts = { //--------------------------------- AnyRevoluteJoint Shoulder = { - Axis = z; AnyRefNode &GroundNode = ..GlobalRef.Shoulder; AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -124,18 +129,17 @@ Main = { 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 + }; // Elbow driver }; // Driver folder - + AnyFolder Muscles = { - // Simple muscle model with constant strength = 400 Newton + // Simple muscle model with constant strength = 400 Newton AnyMuscleModel MusMdl = { F0 = 400; }; @@ -145,7 +149,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -153,7 +157,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusA; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -161,7 +165,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusB; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -169,7 +173,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -177,7 +181,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -185,7 +189,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -193,7 +197,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.BicepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -201,7 +205,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.TricepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; }; // Muscles folder @@ -212,13 +216,12 @@ Main = { F = {0,-100,0}; // Force in Newton }; }; // Loads folder - - }; // MyModel + };// ArmModel + // 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 +}; \ No newline at end of file diff --git a/A_Getting_started_anyscript/Downloads/demo.arm2d.zip b/A_Getting_started_anyscript/Downloads/demo.arm2d.zip index 95481301..8d8e2e8f 100644 Binary files a/A_Getting_started_anyscript/Downloads/demo.arm2d.zip and b/A_Getting_started_anyscript/Downloads/demo.arm2d.zip differ diff --git a/A_Getting_started_anyscript/Downloads/demo.lesson3.any b/A_Getting_started_anyscript/Downloads/demo.lesson3.any index 54337643..96316628 100644 --- a/A_Getting_started_anyscript/Downloads/demo.lesson3.any +++ b/A_Getting_started_anyscript/Downloads/demo.lesson3.any @@ -1,4 +1,4 @@ - // Todo: Write a small description of your model here +// Todo: Write a small description of your model here Main = { // The actual body model goes in this folder @@ -10,72 +10,78 @@ Main = { }; // Global Reference Frame - // Segments - AnyFolder Segs = { - - //UpperArm - AnySeg UpperArm = { - r0 = {0.0, 0.3, 0.0}; - 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 + // Segments + AnyFolder Segs = { + + //UpperArm + AnySeg UpperArm = { + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + + 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 + + // ForeArm + AnySeg ForeArm = { + r0 = {0.3, 0.0, 0.0}; + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; - // ForeArm - AnySeg ForeArm = { - r0 = {0.3, 0.0, 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 - - // Todo: Add the model elements such as - // segments, joints, and muscles here. - - }; // Segs folder + 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}; + }; + }; // ForeArm + + // Todo: Add the model elements such as + // segments, joints, and muscles here. + + }; // Segs folder }; // The study: Operations to be performed on the model // ArmModel @@ -83,5 +89,4 @@ Main = { AnyFolder &Model = .ArmModel; Gravity = {0.0, -9.81, 0.0}; }; - }; \ No newline at end of file diff --git a/A_Getting_started_anyscript/Downloads/demo.lesson4.any b/A_Getting_started_anyscript/Downloads/demo.lesson4.any index 8980201e..8e4d4a1f 100644 --- a/A_Getting_started_anyscript/Downloads/demo.lesson4.any +++ b/A_Getting_started_anyscript/Downloads/demo.lesson4.any @@ -1,119 +1,123 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + 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; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; }; // Elbow joint - }; // Jnts folder - - }; // MyModel - - // The study: Operations to be performed on the model + + }; // The study: Operations to be performed on the model + // ArmModel + 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/Downloads/demo.lesson5.any b/A_Getting_started_anyscript/Downloads/demo.lesson5.any index 88dc84d6..891e8e13 100644 --- a/A_Getting_started_anyscript/Downloads/demo.lesson5.any +++ b/A_Getting_started_anyscript/Downloads/demo.lesson5.any @@ -1,105 +1,110 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + 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; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -119,15 +124,15 @@ Main = { AnyRevoluteJoint &Jnt = ..Jnts.Elbow; DriverPos = {90*pi/180}; DriverVel = {45*pi/180}; - }; // Elbow driver + }; // Elbow driver }; // Driver folder - }; // MyModel - - // The study: Operations to be performed on the model + }; // The study: Operations to be performed on the model + // ArmModel + 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/Downloads/demo.lesson6.any b/A_Getting_started_anyscript/Downloads/demo.lesson6.any index 6fe4581b..4f21159d 100644 --- a/A_Getting_started_anyscript/Downloads/demo.lesson6.any +++ b/A_Getting_started_anyscript/Downloads/demo.lesson6.any @@ -1,108 +1,113 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; }; AnyRefNode PalmNode = { sRel = {0.27,0,0}; }; - AnyDrawSeg DrwSeg = {}; }; // ForeArm - }; // Segs folder - + // Joints AnyFolder Jnts = { //--------------------------------- AnyRevoluteJoint Shoulder = { - Axis = z; AnyRefNode &GroundNode = ..GlobalRef.Shoulder; AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -112,25 +117,23 @@ Main = { 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 + }; // Elbow driver }; // Driver folder - + AnyFolder Muscles = { - // Simple muscle model with constant strength = 400 Newton + // Simple muscle model with constant strength = 400 Newton AnyMuscleModel MusMdl = { F0 = 400; }; @@ -140,7 +143,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -148,7 +151,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusA; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -156,7 +159,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusB; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -164,7 +167,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -172,7 +175,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -180,7 +183,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -188,7 +191,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.BicepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -196,7 +199,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.TricepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; }; // Muscles folder @@ -207,12 +210,12 @@ Main = { F = {0,-100,0}; // Force in Newton }; }; // Loads folder - }; // MyModel + };// ArmModel + // 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 +}; \ No newline at end of file diff --git a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-1.any b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-1.any index 28e89c43..517296ff 100644 --- a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-1.any +++ b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-1.any @@ -12,6 +12,7 @@ AnyFolder ArmModel = { §// Segments AnyFolder Segs = { + }; // Segs folder § }; diff --git a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-4.any b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-4.any index cdc5cd90..e75f712e 100644 --- a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-4.any +++ b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-4.any @@ -12,15 +12,17 @@ AnyFolder ArmModel = { // Segments AnyFolder Segs = { - //# BEGIN SNIPPET 1 +//# BEGIN SNIPPET 1 AnySeg UpperArm = { //r0 = {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}}; Mass = 2; Jii = {0.001, 0.01, 0.01}; - §AnyDrawSeg drw = {};§ + §viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On;§ }; //UpperArm - //# END SNIPPET 1 +//# END SNIPPET 1 }; // Segs folder }; diff --git a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-5.any b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-5.any index 690302db..19a4fadc 100644 --- a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-5.any +++ b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-5.any @@ -18,7 +18,10 @@ AnySeg UpperArm = { //Axes0 = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0}}; Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + §AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; diff --git a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-6.any b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-6.any index 72b1607d..77772373 100644 --- a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-6.any +++ b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-6.any @@ -17,8 +17,11 @@ AnyFolder ArmModel = { //Axes0 = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0}}; Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - §AnyRefNode ShoulderNode = { + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + + AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { @@ -44,33 +47,36 @@ AnyFolder ArmModel = { };§ }; //UpperArm - //# BEGIN SNIPPET 1 - §AnySeg ForeArm = { - 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§ + //# BEGIN SNIPPET 1 + §AnySeg ForeArm = { + Mass = 2.0; + Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + + 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}; + }; + }; // ForeArm§ }; // Segs folder - //# END SNIPPET 1 +//# END SNIPPET 1 }; // The study: Operations to be performed on the model diff --git a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-7.any b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-7.any index ecbf54d2..57ca0a6b 100644 --- a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-7.any +++ b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-7.any @@ -12,15 +12,17 @@ AnyFolder ArmModel = { // Segments AnyFolder Segs = { - //# BEGIN SNIPPET 1 +//# BEGIN SNIPPET 1 AnySeg UpperArm = { §r0 = {0.0, 0.3, 0.0};§ //Axes0 = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0}}; Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - //# END SNIPPET 1 - §AnyRefNode ShoulderNode = { + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; +//# END SNIPPET 1 + AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { @@ -43,15 +45,18 @@ AnySeg UpperArm = { }; AnyRefNode TricepsShort = { sRel = {-0.1,0,-0.01}; - };§ + }; }; //UpperArm - //# BEGIN SNIPPET 2 +//# BEGIN SNIPPET 2 AnySeg ForeArm = { §r0 = {0.3, 0.0, 0.0};§ Mass = 2.0; Jii = {0.001,0.01,0.01}; - //# END SNIPPET 2 + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; +//# END SNIPPET 2 AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; @@ -70,8 +75,7 @@ AnySeg ForeArm = { AnyRefNode Triceps = { sRel = {-0.25,0,-0.05}; }; - AnyDrawSeg DrwSeg = {}; - }; // ForeArm + }; // ForeArm }; // Segs folder diff --git a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-8.any b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-8.any index 5f816b55..1eab835c 100644 --- a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-8.any +++ b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-8.any @@ -19,8 +19,10 @@ AnySeg UpperArm = { //# END SNIPPET 1 Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - §AnyRefNode ShoulderNode = { + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { @@ -43,13 +45,16 @@ AnySeg UpperArm = { }; AnyRefNode TricepsShort = { sRel = {-0.1,0,-0.01}; - };§ + }; }; //UpperArm AnySeg ForeArm = { r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; @@ -68,7 +73,6 @@ AnySeg UpperArm = { AnyRefNode Triceps = { sRel = {-0.25,0,-0.05}; }; - AnyDrawSeg DrwSeg = {}; }; // ForeArm }; // Segs folder diff --git a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-9.any b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-9.any index 281ec33b..e4550f0e 100644 --- a/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-9.any +++ b/A_Getting_started_anyscript/Snippets/lesson2/snip.NewModel.main-9.any @@ -19,8 +19,10 @@ AnySeg UpperArm = { //# END SNIPPET 1 Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - §AnyRefNode ShoulderNode = { + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { @@ -43,7 +45,7 @@ AnySeg UpperArm = { }; AnyRefNode TricepsShort = { sRel = {-0.1,0,-0.01}; - };§ + }; }; //UpperArm // ForeArm @@ -51,6 +53,9 @@ AnySeg UpperArm = { r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; @@ -69,7 +74,6 @@ AnySeg UpperArm = { AnyRefNode Triceps = { sRel = {-0.25,0,-0.05}; }; - AnyDrawSeg DrwSeg = {}; }; // ForeArm }; // Segs folder diff --git a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-1.any b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-1.any index 1aec2c75..c37e72c1 100644 --- a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-1.any +++ b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-1.any @@ -21,7 +21,10 @@ AnyFixedRefFrame GlobalRef = { Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; @@ -53,6 +56,10 @@ AnyFixedRefFrame GlobalRef = { r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; @@ -71,7 +78,6 @@ AnyFixedRefFrame GlobalRef = { AnyRefNode Triceps = { sRel = {-0.25,0,-0.05}; }; - AnyDrawSeg DrwSeg = {}; }; // ForeArm // Todo: Add the model elements such as diff --git a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-2.any b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-2.any index eefba148..3d9d38d2 100644 --- a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-2.any +++ b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-2.any @@ -4,28 +4,28 @@ Main = { // The actual body model goes in this folder AnyFolder ArmModel = { - //# BEGIN SNIPPET 1 +//# BEGIN SNIPPET 1 // Global Reference Frame AnyFixedRefFrame GlobalRef = { - §AnyDrawRefFrame DrwGlobalRef = {}; + §viewRefFrame.Visible = On; - 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}; - };§ + 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 - //# END SNIPPET 1 +//# END SNIPPET 1 // Segments AnyFolder Segs = { @@ -36,7 +36,10 @@ AnyFixedRefFrame GlobalRef = { Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; @@ -68,6 +71,10 @@ AnyFixedRefFrame GlobalRef = { r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; @@ -86,7 +93,6 @@ AnyFixedRefFrame GlobalRef = { AnyRefNode Triceps = { sRel = {-0.25,0,-0.05}; }; - AnyDrawSeg DrwSeg = {}; }; // ForeArm // Todo: Add the model elements such as diff --git a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-3.any b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-3.any index 183dfc26..efa0cdb0 100644 --- a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-3.any +++ b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-3.any @@ -5,12 +5,11 @@ Main = { AnyFolder ArmModel = { // Global Reference Frame - AnyFixedRefFrame GlobalRef = { - //# BEGIN SNIPPET 1 -AnyDrawRefFrame DrwGlobalRef = { - §ScaleXYZ = {0.1, 0.1, 0.1}; - RGB = {0,1,0};§ -}; +//# BEGIN SNIPPET 1 +AnyFixedRefFrame GlobalRef = { + viewRefFrame.Visible = On; + §viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0};§ //# END SNIPPET 1 AnyRefNode Shoulder = { @@ -39,7 +38,10 @@ AnyDrawRefFrame DrwGlobalRef = { Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; @@ -71,6 +73,10 @@ AnyDrawRefFrame DrwGlobalRef = { r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; @@ -89,7 +95,6 @@ AnyDrawRefFrame DrwGlobalRef = { AnyRefNode Triceps = { sRel = {-0.25,0,-0.05}; }; - AnyDrawSeg DrwSeg = {}; }; // ForeArm // Todo: Add the model elements such as diff --git a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-4.any b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-4.any index 00274069..5d587be9 100644 --- a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-4.any +++ b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-4.any @@ -6,10 +6,9 @@ Main = { // Global Reference Frame AnyFixedRefFrame GlobalRef = { - AnyDrawRefFrame DrwGlobalRef = { - ScaleXYZ = {0.1, 0.1, 0.1}; - RGB = {0,1,0}; - }; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; AnyRefNode Shoulder = { sRel = {0,0,0}; @@ -37,7 +36,10 @@ Main = { Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; @@ -69,6 +71,10 @@ Main = { r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; @@ -87,13 +93,11 @@ Main = { AnyRefNode Triceps = { sRel = {-0.25,0,-0.05}; }; - AnyDrawSeg DrwSeg = {}; //# BEGIN SNIPPET 1 }; // ForeArm }; // Segs folder -§ -// Joints +§// Joints AnyFolder Jnts = { //--------------------------------- diff --git a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-5.any b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-5.any index 64afba98..4a70e045 100644 --- a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-5.any +++ b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-5.any @@ -6,10 +6,9 @@ Main = { // Global Reference Frame AnyFixedRefFrame GlobalRef = { - AnyDrawRefFrame DrwGlobalRef = { - ScaleXYZ = {0.1, 0.1, 0.1}; - RGB = {0,1,0}; - }; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; AnyRefNode Shoulder = { sRel = {0,0,0}; @@ -37,7 +36,10 @@ Main = { Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; @@ -69,6 +71,10 @@ Main = { r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; @@ -87,7 +93,6 @@ Main = { AnyRefNode Triceps = { sRel = {-0.25,0,-0.05}; }; - AnyDrawSeg DrwSeg = {}; }; // ForeArm }; // Segs folder diff --git a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-6.any b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-6.any index 930da3e1..c569d4e7 100644 --- a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-6.any +++ b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-6.any @@ -6,10 +6,9 @@ Main = { // Global Reference Frame AnyFixedRefFrame GlobalRef = { - AnyDrawRefFrame DrwGlobalRef = { - ScaleXYZ = {0.1, 0.1, 0.1}; - RGB = {0,1,0}; - }; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; AnyRefNode Shoulder = { sRel = {0,0,0}; @@ -37,7 +36,10 @@ Main = { Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; @@ -69,6 +71,10 @@ Main = { r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; @@ -87,7 +93,6 @@ Main = { AnyRefNode Triceps = { sRel = {-0.25,0,-0.05}; }; - AnyDrawSeg DrwSeg = {}; }; // ForeArm }; // Segs folder diff --git a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-7.any b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-7.any index d9fa4212..22fb86a0 100644 --- a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-7.any +++ b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-7.any @@ -8,10 +8,9 @@ Main = { // Global Reference Frame AnyFixedRefFrame GlobalRef = { - AnyDrawRefFrame DrwGlobalRef = { - ScaleXYZ = {0.1, 0.1, 0.1}; - RGB = {0,1,0}; - }; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; AnyRefNode Shoulder = { sRel = {0,0,0}; @@ -39,7 +38,10 @@ Main = { Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; @@ -71,6 +73,10 @@ Main = { r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; @@ -89,7 +95,6 @@ Main = { AnyRefNode Triceps = { sRel = {-0.25,0,-0.05}; }; - AnyDrawSeg DrwSeg = {}; }; // ForeArm }; // Segs folder @@ -104,10 +109,10 @@ AnyFolder Jnts = { }; // Shoulder joint §AnyRevoluteJoint Elbow = { - Axis = z; - AnyRefNode &UpperArmNode = ; - AnyRefNode &ForeArmNode = ; - }; // Elbow joint§ + Axis = z; + AnyRefNode &UpperArmNode = ; + AnyRefNode &ForeArmNode = ; + }; // Elbow joint§ }; // Jnts folder //# END SNIPPET 1 diff --git a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-8.any b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-8.any index 8486648a..d8f186cb 100644 --- a/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-8.any +++ b/A_Getting_started_anyscript/Snippets/lesson3/snip.NewModel.main-8.any @@ -6,10 +6,9 @@ Main = { // Global Reference Frame AnyFixedRefFrame GlobalRef = { - AnyDrawRefFrame DrwGlobalRef = { - ScaleXYZ = {0.1, 0.1, 0.1}; - RGB = {0,1,0}; - }; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; AnyRefNode Shoulder = { sRel = {0,0,0}; @@ -37,7 +36,10 @@ Main = { Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; @@ -69,6 +71,10 @@ Main = { r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; @@ -87,7 +93,6 @@ Main = { AnyRefNode Triceps = { sRel = {-0.25,0,-0.05}; }; - AnyDrawSeg DrwSeg = {}; }; // ForeArm }; // Segs folder 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 94e1f297..c6f731ea 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 @@ -1,110 +1,116 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + 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; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; AnyRefNode &ForeArmNode = Main.ArmModel.Segs.ForeArm.ElbowNode; }; // Elbow joint + //# BEGIN SNIPPET 1 }; // Jnts folder @@ -115,21 +121,22 @@ Main = { 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 + }; // Elbow driver }; // Driver folder§ //# END SNIPPET 1 - }; // MyModel - - // The study: Operations to be performed on the model + }; // The study: Operations to be performed on the model + // ArmModel + 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/lesson4/snip.NewModel.main-2.any b/A_Getting_started_anyscript/Snippets/lesson4/snip.NewModel.main-2.any index d01f2f1f..71dcdc22 100644 --- a/A_Getting_started_anyscript/Snippets/lesson4/snip.NewModel.main-2.any +++ b/A_Getting_started_anyscript/Snippets/lesson4/snip.NewModel.main-2.any @@ -1,105 +1,110 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + 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; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -123,15 +128,15 @@ AnyRevoluteJoint &Jnt = ..Jnts.Elbow; //# END SNIPPET 2 DriverPos = {90*pi/180}; DriverVel = {45*pi/180}; - }; // Elbow driver + }; // Elbow driver }; // Driver folder - }; // MyModel - - // The study: Operations to be performed on the model + }; // The study: Operations to be performed on the model + // ArmModel + 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/lesson5/snip.NewModel.main-1.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-1.any index 923ef2f3..9bfd4525 100644 --- a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-1.any +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-1.any @@ -1,105 +1,110 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + 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; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -119,7 +124,7 @@ Main = { AnyRevoluteJoint &Jnt = ..Jnts.Elbow; DriverPos = {90*pi/180}; DriverVel = {45*pi/180}; - }; // Elbow driver + }; // Elbow driver //# BEGIN SNIPPET 1 }; // Driver folder @@ -128,12 +133,12 @@ Main = { }; // Muscles folder§ //# END SNIPPET 1 - }; // MyModel - - // The study: Operations to be performed on the model + }; // The study: Operations to be performed on the model + // ArmModel + 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/lesson5/snip.NewModel.main-2.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-2.any index 2615c50a..72434c2b 100644 --- a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-2.any +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-2.any @@ -1,105 +1,110 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + 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; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -119,9 +124,10 @@ Main = { AnyRevoluteJoint &Jnt = ..Jnts.Elbow; DriverPos = {90*pi/180}; DriverVel = {45*pi/180}; - }; // Elbow driver - }; // Driver folder + }; // Elbow driver //# BEGIN SNIPPET 1 +}; // Driver folder + AnyFolder Muscles = { §// Simple muscle model with constant strength = 400 Newton AnyMuscleModel MusMdl = { @@ -130,12 +136,12 @@ AnyFolder Muscles = { }; // Muscles folder //# END SNIPPET 1 - }; // MyModel - - // The study: Operations to be performed on the model + }; // The study: Operations to be performed on the model + // ArmModel + 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/lesson5/snip.NewModel.main-3.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-3.any index a8be1858..91d3191c 100644 --- a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-3.any +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-3.any @@ -1,105 +1,110 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + 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; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -119,9 +124,9 @@ Main = { AnyRevoluteJoint &Jnt = ..Jnts.Elbow; DriverPos = {90*pi/180}; DriverVel = {45*pi/180}; - }; // Elbow driver + }; // Elbow driver }; // Driver folder - + //# BEGIN SNIPPET 1 AnyFolder Muscles = { // Simple muscle model with constant strength = 400 Newton @@ -130,21 +135,21 @@ AnyFolder Muscles = { }; §//--------------------------------- - AnyMuscleViaPoint Brachialis = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..Segs.UpperArm.Brachialis; - AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; - AnyDrawMuscle DrwMus = {}; + AnyMuscleViaPoint Brachialis = { + AnyMuscleModel &MusMdl = ..Muscles.MusMdl; + AnyRefNode &Org = ..Segs.UpperArm.Brachialis; + AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; + viewMuscle.Visible = On; };§ }; // Muscles folder //# END SNIPPET 1 - }; // MyModel - - // The study: Operations to be performed on the model + }; // The study: Operations to be performed on the model + // ArmModel + 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/lesson5/snip.NewModel.main-4.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-4.any index ad13a7b1..5830b60a 100644 --- a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-4.any +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-4.any @@ -1,105 +1,110 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + 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; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -119,11 +124,11 @@ Main = { AnyRevoluteJoint &Jnt = ..Jnts.Elbow; DriverPos = {90*pi/180}; DriverVel = {45*pi/180}; - }; // Elbow driver + }; // Elbow driver }; // Driver folder - + AnyFolder Muscles = { - // Simple muscle model with constant strength = 400 Newton + // Simple muscle model with constant strength = 400 Newton AnyMuscleModel MusMdl = { F0 = 400; }; @@ -135,18 +140,19 @@ AnyMuscleModel &MusMdl = ..Muscles.MusMdl; //# END SNIPPET 1 AnyRefNode &Org = ..Segs.UpperArm.Brachialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; + //# BEGIN SNIPPET 2 -AnyDrawMuscle DrwMus = {}; +viewMuscle.Visible = On; //# END SNIPPET 2 }; }; // Muscles folder - }; // MyModel - - // The study: Operations to be performed on the model + }; // The study: Operations to be performed on the model + // ArmModel + 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/lesson5/snip.NewModel.main-5.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-5.any index 0870b638..de8524a2 100644 --- a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-5.any +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-5.any @@ -1,105 +1,110 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + 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; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -119,21 +124,22 @@ Main = { AnyRevoluteJoint &Jnt = ..Jnts.Elbow; DriverPos = {90*pi/180}; DriverVel = {45*pi/180}; - }; // Elbow driver + }; // Elbow driver }; // Driver folder - + AnyFolder Muscles = { - // Simple muscle model with constant strength = 400 Newton + // 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 = {}; + viewMuscle.Visible = On; }; §//--------------------------------- @@ -141,7 +147,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusA; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -149,7 +155,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusB; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -157,7 +163,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -165,7 +171,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -173,7 +179,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -181,7 +187,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.BicepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -189,16 +195,17 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.TricepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; };§ }; // Muscles folder //# END SNIPPET 1 - }; // MyModel - - // The study: Operations to be performed on the model + + }; // The study: Operations to be performed on the model + // ArmModel + 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/lesson5/snip.NewModel.main-6.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-6.any index 3bae9655..15448de6 100644 --- a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-6.any +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-6.any @@ -1,105 +1,110 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + 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; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -109,26 +114,25 @@ Main = { AnyFolder Drivers = { //--------------------------------- - //# BEGIN SNIPPET 1 +//# 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 + }; // Elbow driver }; // Driver folder //# END SNIPPET 1 - + AnyFolder Muscles = { - // Simple muscle model with constant strength = 400 Newton + // Simple muscle model with constant strength = 400 Newton AnyMuscleModel MusMdl = { F0 = 400; }; @@ -138,7 +142,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -146,7 +150,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusA; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -154,7 +158,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusB; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -162,7 +166,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -170,7 +174,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -178,7 +182,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -186,7 +190,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.BicepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -194,15 +198,16 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.TricepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; }; // Muscles folder - }; // MyModel - - // The study: Operations to be performed on the model + + }; // The study: Operations to be performed on the model + // ArmModel + 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/lesson5/snip.NewModel.main-7.any b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-7.any index cc673d36..ba84cbe1 100644 --- a/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-7.any +++ b/A_Getting_started_anyscript/Snippets/lesson5/snip.NewModel.main-7.any @@ -1,110 +1,115 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + 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 Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyDrawSeg DrwSeg = {}; //# BEGIN SNIPPET 1 - AnyRefNode PalmNode = { - sRel = {0.27,0,0}; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; }; + §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; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -114,25 +119,23 @@ Main = { 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 + }; // Elbow driver }; // Driver folder - + AnyFolder Muscles = { - // Simple muscle model with constant strength = 400 Newton + // Simple muscle model with constant strength = 400 Newton AnyMuscleModel MusMdl = { F0 = 400; }; @@ -142,7 +145,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -150,7 +153,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusA; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -158,7 +161,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusB; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -166,7 +169,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -174,7 +177,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -182,7 +185,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -190,7 +193,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.BicepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -198,11 +201,11 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.TricepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; - }; // Muscles folder - //# BEGIN SNIPPET 2 + }; // Muscles folder + §AnyFolder Loads = { //--------------------------------- AnyForce3D Dumbbell = { @@ -210,13 +213,14 @@ Main = { F = {0,-100,0}; // Force in Newton }; }; // Loads folder§ -}; // MyModel -//# END SNIPPET 2 +};// ArmModel +//# 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 + +}; \ 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 index 389bb850..e374b686 100644 --- a/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-1.any +++ b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-1.any @@ -1,113 +1,118 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; - }; - AnyRefNode PalmNode = { - sRel = {0.27,0,0}; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; }; //# BEGIN SNIPPET 1 - AnyDrawSeg DrwSeg = {}; + AnyRefNode PalmNode = { + sRel = {0.27,0,0}; + }; §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; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -117,25 +122,23 @@ Main = { 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 + }; // Elbow driver }; // Driver folder - + AnyFolder Muscles = { - // Simple muscle model with constant strength = 400 Newton + // Simple muscle model with constant strength = 400 Newton AnyMuscleModel MusMdl = { F0 = 400; }; @@ -145,7 +148,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -153,7 +156,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusA; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -161,7 +164,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusB; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -169,7 +172,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -177,7 +180,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -185,7 +188,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -193,7 +196,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.BicepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -201,7 +204,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.TricepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; }; // Muscles folder @@ -212,12 +215,12 @@ Main = { F = {0,-100,0}; // Force in Newton }; }; // Loads folder - }; // MyModel + };// ArmModel + // 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 +}; \ 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 index 1124009c..0b98930e 100644 --- a/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-2.any +++ b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-2.any @@ -1,114 +1,119 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + 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 - + }; // ForeArm }; // Segs folder - + // Joints AnyFolder Jnts = { //--------------------------------- AnyRevoluteJoint Shoulder = { - Axis = z; AnyRefNode &GroundNode = ..GlobalRef.Shoulder; AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -118,25 +123,23 @@ AnyDrawSTL DrwSTL = { 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 + }; // Elbow driver }; // Driver folder - + AnyFolder Muscles = { - // Simple muscle model with constant strength = 400 Newton + // Simple muscle model with constant strength = 400 Newton AnyMuscleModel MusMdl = { F0 = 400; }; @@ -146,7 +149,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -154,7 +157,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusA; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -162,7 +165,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusB; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -170,7 +173,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -178,7 +181,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -186,7 +189,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -194,7 +197,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.BicepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -202,7 +205,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.TricepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; }; // Muscles folder @@ -213,12 +216,12 @@ AnyDrawSTL DrwSTL = { F = {0,-100,0}; // Force in Newton }; }; // Loads folder - }; // MyModel + };// ArmModel + // 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 +}; \ 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 index 55cb78cd..653f264d 100644 --- a/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-3.any +++ b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-3.any @@ -1,90 +1,97 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; }; //# BEGIN SNIPPET 1 AnyRefNode PalmNode = { @@ -94,22 +101,19 @@ Main = { 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; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -119,25 +123,23 @@ Main = { 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 + }; // Elbow driver }; // Driver folder - + AnyFolder Muscles = { - // Simple muscle model with constant strength = 400 Newton + // Simple muscle model with constant strength = 400 Newton AnyMuscleModel MusMdl = { F0 = 400; }; @@ -147,7 +149,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -155,7 +157,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusA; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -163,7 +165,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusB; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -171,7 +173,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -179,7 +181,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -187,7 +189,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -195,7 +197,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.BicepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -203,7 +205,7 @@ Main = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.TricepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; }; // Muscles folder @@ -214,12 +216,12 @@ Main = { F = {0,-100,0}; // Force in Newton }; }; // Loads folder - }; // MyModel + };// ArmModel + // 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 +}; \ 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 index d5e2f0de..272b7580 100644 --- a/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-4.any +++ b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-4.any @@ -1,90 +1,97 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; }; //# BEGIN SNIPPET 1 AnyRefNode PalmNode = { @@ -96,21 +103,18 @@ AnyRefNode PalmNode = { }; }; //# END SNIPPET 1 - AnyDrawSeg DrwSeg = {}; - }; // ForeArm - - + }; // ForeArm }; // Segs folder - + // Joints AnyFolder Jnts = { //--------------------------------- AnyRevoluteJoint Shoulder = { - Axis = z; AnyRefNode &GroundNode = ..GlobalRef.Shoulder; AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -120,25 +124,23 @@ AnyRefNode PalmNode = { 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 + }; // Elbow driver }; // Driver folder - + AnyFolder Muscles = { - // Simple muscle model with constant strength = 400 Newton + // Simple muscle model with constant strength = 400 Newton AnyMuscleModel MusMdl = { F0 = 400; }; @@ -148,7 +150,7 @@ AnyRefNode PalmNode = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -156,7 +158,7 @@ AnyRefNode PalmNode = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusA; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -164,7 +166,7 @@ AnyRefNode PalmNode = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusB; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -172,7 +174,7 @@ AnyRefNode PalmNode = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -180,7 +182,7 @@ AnyRefNode PalmNode = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -188,7 +190,7 @@ AnyRefNode PalmNode = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -196,7 +198,7 @@ AnyRefNode PalmNode = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.BicepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -204,7 +206,7 @@ AnyRefNode PalmNode = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.TricepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; }; // Muscles folder @@ -215,12 +217,12 @@ AnyRefNode PalmNode = { F = {0,-100,0}; // Force in Newton }; }; // Loads folder - }; // MyModel + };// ArmModel + // 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 +}; \ 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 index d9696803..62b92796 100644 --- a/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-5.any +++ b/A_Getting_started_anyscript/Snippets/lesson6/snip.NewModel.main-5.any @@ -1,94 +1,101 @@ // 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}; + viewRefFrame.Visible = On; + viewRefFrame.ScaleXYZ = {0.1, 0.1, 0.1}; + viewRefFrame.RGB = {0,1,0}; + + AnyRefNode Shoulder = { + sRel = {0,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {0.05,0,0}; + AnyRefNode DeltodeusA = { + sRel = {0.05,0,0}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.05,0,0}; + AnyRefNode DeltodeusB = { + sRel = {-0.05,0,0}; }; - AnyRefNode BicepsLong = { - sRel = {0.1,0,0}; + AnyRefNode BicepsLong = { + sRel = {0.1,0,0}; }; - AnyRefNode TricepsLong = { - sRel = {-0.1,0,0}; + AnyRefNode TricepsLong = { + sRel = {-0.1,0,0}; }; - }; // Global reference frame - + }; // Global Reference Frame + // Segments AnyFolder Segs = { + + //UpperArm AnySeg UpperArm = { - r0 = {0, 0.3, 0}; - Axes0 =RotMat(-90*pi/180, z); + r0 = {0.0, 0.3, 0.0}; + Axes0 = RotMat(-90*pi/180, z); Mass = 2; Jii = {0.001, 0.01, 0.01}; - AnyDrawSeg drw = {}; - + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ShoulderNode = { - sRel = {-0.2,0,0}; + sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { - sRel = {0.2,0,0}; + sRel = {0.2,0,0}; }; - AnyRefNode DeltodeusA = { - sRel = {-0.1,0,0.02}; + AnyRefNode DeltodeusA = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode DeltodeusB = { - sRel = {-0.1,0,-0.02}; + AnyRefNode DeltodeusB = { + sRel = {-0.1,0,-0.02}; }; - AnyRefNode Brachialis = { - sRel = {0.1,0,0.01}; + AnyRefNode Brachialis = { + sRel = {0.1,0,0.01}; }; - AnyRefNode BicepsShort = { - sRel = {-0.1,0,0.03}; + AnyRefNode BicepsShort = { + sRel = {-0.1,0,0.03}; }; - AnyRefNode Brachioradialis = { - sRel = {0.05,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.05,0,0.02}; }; - AnyRefNode TricepsShort = { - sRel = {-0.1,0,-0.01}; - }; - }; // UpperArm - + AnyRefNode TricepsShort = { + sRel = {-0.1,0,-0.01}; + }; + }; //UpperArm + + // ForeArm AnySeg ForeArm = { - r0 = {0.3, 0, 0}; + r0 = {0.3, 0.0, 0.0}; Mass = 2.0; Jii = {0.001,0.01,0.01}; + viewRefFrame.Visible = On; + viewNodes.Visible = On; + viewInertia.Visible = On; + AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; - AnyRefNode Brachialis = { - sRel = {-0.1,0,0.02}; + AnyRefNode Brachialis = { + sRel = {-0.1,0,0.02}; }; - AnyRefNode Brachioradialis = { - sRel = {0.0,0,0.02}; + AnyRefNode Brachioradialis = { + sRel = {0.0,0,0.02}; }; - AnyRefNode Biceps = { - sRel = {-0.15,0,0.01}; + AnyRefNode Biceps = { + sRel = {-0.15,0,0.01}; }; - AnyRefNode Triceps = { - sRel = {-0.25,0,-0.05}; + AnyRefNode Triceps = { + sRel = {-0.25,0,-0.05}; }; AnyRefNode PalmNode = { sRel = {0.27,0,0}; - ARel = RotMat(90*pi/180, y); + §ARel = RotMat(90*pi/180, y);§ //# BEGIN SNIPPET 1 AnyDrawSTL DrwSTL = { FileName = "dumbbell.stl"; @@ -97,21 +104,18 @@ AnyDrawSTL DrwSTL = { }; //# END SNIPPET 1 }; - AnyDrawSeg DrwSeg = {}; - }; // ForeArm - - + }; // ForeArm }; // Segs folder - + // Joints AnyFolder Jnts = { //--------------------------------- AnyRevoluteJoint Shoulder = { - Axis = z; AnyRefNode &GroundNode = ..GlobalRef.Shoulder; AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; + Axis = z; }; // Shoulder joint - + AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = Main.ArmModel.Segs.UpperArm.ElbowNode; @@ -121,25 +125,23 @@ AnyDrawSTL DrwSTL = { 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 + }; // Elbow driver }; // Driver folder - + AnyFolder Muscles = { - // Simple muscle model with constant strength = 400 Newton + // Simple muscle model with constant strength = 400 Newton AnyMuscleModel MusMdl = { F0 = 400; }; @@ -149,7 +151,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -157,7 +159,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusA; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -165,7 +167,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusB; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -173,7 +175,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -181,7 +183,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -189,7 +191,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -197,7 +199,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.BicepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Biceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; //--------------------------------- @@ -205,7 +207,7 @@ AnyDrawSTL DrwSTL = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.TricepsLong; AnyRefNode &Ins = ..Segs.ForeArm.Triceps; - AnyDrawMuscle DrwMus = {}; + viewMuscle.Visible = On; }; }; // Muscles folder @@ -216,12 +218,12 @@ AnyDrawSTL DrwSTL = { F = {0,-100,0}; // Force in Newton }; }; // Loads folder - }; // MyModel + };// ArmModel + // The study: Operations to be performed on the model AnyBodyStudy ArmStudy = { AnyFolder &Model = .ArmModel; Gravity = {0.0, -9.81, 0.0}; 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To create an AnyScript model from scratch, go to "File menu -> New from diff --git a/A_Getting_started_anyscript/lesson2.md b/A_Getting_started_anyscript/lesson2.md index d4eb7e5f..b820f8c7 100644 --- a/A_Getting_started_anyscript/lesson2.md +++ b/A_Getting_started_anyscript/lesson2.md @@ -89,8 +89,11 @@ model's kinematics.** We will take care of this in the next lesson ## Displaying a segment -To make something visible in AnyBody, you have to add a drawing object which -defines visibility: +To make something visible in AnyBody, you have two options - you can set the +`Visible` property of the segment to `On`, or you can add a new drawing object +which defines visibility of the segment. + +The first option is done by adding the following lines to the segment: ```{literalinclude} Snippets/lesson2/snip.NewModel.main-4.any :language: AnyScriptDoc @@ -98,11 +101,29 @@ defines visibility: :end-before: //# END SNIPPET 1 ``` +Here, the visibility of the *reference frame*, the *nodes*, and the *ellipsoid* — whose +dimensions graphically represent the segment's inertia, `Jii` — are all set to be visible. +Changing any component of `Jii` will alter the shape of the ellipsoid. Reload the model, and look at the Model View (you might have to press the Zoom-button -button to locate your segment). The segment is displayed as an ellipsoid whose -dimensions capture the mass distribution represented by `Jii`. Changing any -one component of `Jii` will alter the shape of the ellipse. +button to locate your segment). + +The second option is to add a new drawing object of class `AnyDrawSeg` to the +segment, which defines visibility of the segment. + +```AnyScriptDoc +AnySeg UpperArm = { + //r0 = {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}}; + Mass = 2; + Jii = {0.001, 0.01, 0.01}; + §AnyDrawSeg drw = {};§ +}; //UpperArm +``` + +You can try both options and see the same result. For the rest of this tutorial, +we will use the first option of setting the `Visible` properties to `On`. But +you might see the second option in other tutorials and models. ## Adding point nodes to a segment @@ -128,6 +149,7 @@ center of gravity by yellow pins. :alt: Upper arm with nodes :class: bg-primary :align: center +:width: 70% ``` ## Creating a second segment @@ -146,7 +168,7 @@ it's defined to look exactly the same and is loaded exactly on top of the upper arm.** To solve this problem, you can change the initial/load time position of the two -segments by adjusting r0 (translation w.r.t global frame at load-time) and Axes0 +segments by adjusting `r0` (translation w.r.t global frame at load-time) and `Axes0` (rotation matrix w.r.t global frame at load-time). Remember that your simulation, will only use these load-time positions as an @@ -173,8 +195,8 @@ This will clearly separate the segments in your Model View: ```{image} _static/lesson2/image5.png :alt: Upper and lower arm -:class: bg-primary :align: center +:width: 60% ``` ## Rotation matrices in AnyBody @@ -199,9 +221,9 @@ Rotation matrices are a bit difficult to cook up on the fly. If your spatial thinking is good, you could maybe figure out the exact expressions for all 9 components of the 3x3 Axes0 matrix. -**An easier solution is to use a standard function named `RotMat`, which returns -a rotation matrix corresponding to a given axis and rotation angle. Therefore, -we can specify:** +An easier solution is to use a standard function named `RotMat`, which returns +a **rotation matrix** corresponding to a given axis and rotation angle. Therefore, +we can specify: ```{literalinclude} Snippets/lesson2/snip.NewModel.main-9.any :language: AnyScriptDoc diff --git a/A_Getting_started_anyscript/lesson3.md b/A_Getting_started_anyscript/lesson3.md index a8a683bd..6a9d6826 100644 --- a/A_Getting_started_anyscript/lesson3.md +++ b/A_Getting_started_anyscript/lesson3.md @@ -51,12 +51,13 @@ the class properties alone): :end-before: //# END SNIPPET 1 ``` -The first line, "`AnyDrawRefFrame` ..." merely displays the global reference +The first line, "`viewRefFrame.Visible = On`" merely displays the global reference system in the graphics window. The remaining lines define point nodes attached to the global reference system. -Let us scale down the display -size and change its color to distinguish it from the yellow segments: +Let us scale down the display size and change its color to distinguish it from +the yellow segments. This is done by defining the `ScaleXYZ` and `RGB` properties +of the `viewRefFrame` object: ```{literalinclude} Snippets/lesson3/snip.NewModel.main-3.any :language: AnyScriptDoc diff --git a/A_Getting_started_anyscript/lesson4.md b/A_Getting_started_anyscript/lesson4.md index 2fd98a43..cc52f5a3 100644 --- a/A_Getting_started_anyscript/lesson4.md +++ b/A_Getting_started_anyscript/lesson4.md @@ -16,6 +16,7 @@ a forearm by the elbow. What we want to do now is to make the arm move. :alt: Upper and lower arm rotated :class: bg-primary :align: center +:width: 50% ``` :::{note} diff --git a/A_Getting_started_anyscript/lesson5.md b/A_Getting_started_anyscript/lesson5.md index 82cce10b..1793973f 100644 --- a/A_Getting_started_anyscript/lesson5.md +++ b/A_Getting_started_anyscript/lesson5.md @@ -106,6 +106,7 @@ All the other muscles are defined in the same way. Your model should resemble th :alt: Upper and lower arm with muscles :class: bg-primary :align: center +:width: 50% ``` ## The InitialConditions analysis @@ -122,6 +123,7 @@ The assembled model should resemble the following figure. :alt: Upper and lower arm initial conditions :class: bg-primary :align: center +:width: 50% ``` (driver-reactions)= @@ -182,6 +184,7 @@ You should get a curve that looks like the one below. :alt: Brachialis muscle force :class: bg-primary :align: center +:width: 75% ``` The drop in muscle force with movement progression is due to the decreasing moment arm of the @@ -193,6 +196,7 @@ If you look at the muscle force in the BicepsLong, you see a different pattern: :alt: Biceps long muscle force :class: bg-primary :align: center +:width: 75% ``` This muscle's force increases during the movement because this muscle supports both, the shoulder and the @@ -229,6 +233,7 @@ should see this: :alt: Biceps long with added force :class: bg-primary :align: center +:width: 75% ``` :::{note} diff --git a/A_Getting_started_anyscript/lesson6.md b/A_Getting_started_anyscript/lesson6.md index 048654e6..2055a3dc 100644 --- a/A_Getting_started_anyscript/lesson6.md +++ b/A_Getting_started_anyscript/lesson6.md @@ -32,14 +32,11 @@ option during the export process. Since the bone models shown in the above tutorial may be a bit too elaborate for a basic tutorial, we will demonstrate this by adding an STL file for the dumbbell in the arm model. -Download the dumbbell model {download}`here `. +Download the dumbbell model {download}`here ` +and save the STL file in the same folder as your AnyBody main script. The dumbbell STL should be added to the forearm, so add the following code - which imports the STL -file into AnyBody - within the "ArmModel.Segs.ForeArm" object: - -:::{important} -The STL file must be saved in the same folder as the AnyBody script. -::: +file into AnyBody - within the `ArmModel.Segs.ForeArm` object: ```{literalinclude} Snippets/lesson6/snip.NewModel.main-1.any :language: AnyScriptDoc @@ -47,7 +44,7 @@ The STL file must be saved in the same folder as the AnyBody script. :end-before: //# END SNIPPET 1 ``` -Re-loading the model will result in a fully gray model view. +Re-loading the model now will *not* result in a sensible model view. This is because the STL file's units was millimeters, whereas the arm model is in meters. This means the dumbbell's STL swallowed up the entire arm model in the model view. @@ -59,13 +56,15 @@ We will therefore scale the dumbbell model down a 1000 times, in the following w :end-before: //# END SNIPPET 1 ``` -Post re-loading, your model should resemble the figure below.The dumbbell is visible now and has the right size, but -it is sitting at the center of mass of the lower arm rather than at the hand, and is not oriented correctly. +Post re-loading, your model should resemble the figure below. The dumbbell is +visible now and has the right size, but it is sitting at the center of mass of +the lower arm rather than at the hand, and is not oriented correctly. -```{image} _static/lesson6/image3.jpeg +```{image} _static/lesson6/image3.png :alt: Dumbbell inserted :class: bg-primary :align: center +:width: 50% ``` ## Relocating your STL object @@ -86,10 +85,11 @@ from the "ForeArm" folder to the "PalmNode" subfolder. Cut-paste the entire code Upon reloading, we see that the dumbbell attached to the right location, but is still not oriented correctly. -```{image} _static/lesson6/image4.jpeg +```{image} _static/lesson6/image4.png :alt: Dumbbell attached at Palm :class: bg-primary :align: center +:width: 50% ``` ## Reorienting your STL object @@ -126,12 +126,14 @@ The dumbbell's color can be changed adding the property RGB to the STL file refe :end-before: //# END SNIPPET 1 ``` -The RGB property specifies the blend of colors Red, Green, and Blue on a normalized scale of 0 to 1. +The RGB property specifies the blend of colors Red, Green, and Blue on a +normalized scale of 0 to 1. -```{image} _static/lesson6/image5.jpeg +```{image} _static/lesson6/image5.png :alt: Final dumbbell placement :class: bg-primary :align: center +:width: 50% ``` This completes the Getting Started with AnyScript tutorial. The final diff --git a/GettingStarted.md b/GettingStarted.md index 0dc2cc2b..3a535404 100644 --- a/GettingStarted.md +++ b/GettingStarted.md @@ -8,7 +8,7 @@ sd_hide_title: true :class: sd-fs-4 ``` -If you are a new user, please spend 7 minutes to watch the introductory video below before beginning the tutorials. +If you are a new user, please spend 5 minutes to watch the introductory video below before beginning the tutorials. :::{only} offline