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Merged
melund merged 1 commit into from
Sep 15, 2025
Merged

Using Auto draw-objects in "How to Write AnyScript" tutorial #60

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145 changes: 74 additions & 71 deletions A_Getting_started_anyscript/Downloads/demo.arm2d.any
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Original file line number Diff line number Diff line change
@@ -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};
Expand All @@ -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;
Expand All @@ -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;
};
Expand All @@ -145,63 +149,63 @@ Main = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..Segs.UpperArm.Brachialis;
AnyRefNode &Ins = ..Segs.ForeArm.Brachialis;
AnyDrawMuscle DrwMus = {};
viewMuscle.Visible = On;
};

//---------------------------------
AnyMuscleViaPoint DeltodeusA = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..GlobalRef.DeltodeusA;
AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA;
AnyDrawMuscle DrwMus = {};
viewMuscle.Visible = On;
};

//---------------------------------
AnyMuscleViaPoint DeltodeusB = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..GlobalRef.DeltodeusB;
AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB;
AnyDrawMuscle DrwMus = {};
viewMuscle.Visible = On;
};

//---------------------------------
AnyMuscleViaPoint Brachioradialis = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis;
AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis;
AnyDrawMuscle DrwMus = {};
viewMuscle.Visible = On;
};

//---------------------------------
AnyMuscleViaPoint BicepsShort = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..Segs.UpperArm.BicepsShort;
AnyRefNode &Ins = ..Segs.ForeArm.Biceps;
AnyDrawMuscle DrwMus = {};
viewMuscle.Visible = On;
};

//---------------------------------
AnyMuscleViaPoint TricepsShort = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..Segs.UpperArm.TricepsShort;
AnyRefNode &Ins = ..Segs.ForeArm.Triceps;
AnyDrawMuscle DrwMus = {};
viewMuscle.Visible = On;
};

//---------------------------------
AnyMuscleViaPoint BicepsLong = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..GlobalRef.BicepsLong;
AnyRefNode &Ins = ..Segs.ForeArm.Biceps;
AnyDrawMuscle DrwMus = {};
viewMuscle.Visible = On;
};

//---------------------------------
AnyMuscleViaPoint TricepsLong = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..GlobalRef.TricepsLong;
AnyRefNode &Ins = ..Segs.ForeArm.Triceps;
AnyDrawMuscle DrwMus = {};
viewMuscle.Visible = On;
};
}; // Muscles folder

Expand All @@ -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
};
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