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/Application/Examples/AirlinePassenger/Model/JointsAndDrivers.any
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--- a +++ b/Application/Examples/AirlinePassenger/Model/JointsAndDrivers.any @@ -0,0 +1,581 @@ +AnyFolder Jnt={ + + AnyFolder &RefP=..EnvironmentModel; + AnyFolder &RefS=.Segments; + AnyFolder &RefH = ..BodyModel; + + //---------------------------------------------- + // Joints - Pelvis - Seat + //---------------------------------------------- + + AnyFolder PelvisSeatJnt = { + + AnyKinLinear PelvisSeatLinMeasure = { + AnyRefFrame &SeatRef = ..RefP.Seg.Seat.SeatPelvisJntNode; + SeatRef={ + //AnyDrawRefFrame test ={ScaleXYZ={0.4,0.4,0.4};}; + }; + AnyRefFrame &PelvisRef = ..RefS.Pelvis.Seat_contactCenter; + Ref = 0; + }; + + AnyKinRotational PelvisSeatRotMeasure = { + AnyRefFrame &SeatRef = ..RefP.Seg.Seat.SeatPelvisJntNode; + AnyRefFrame &PelvisRef = ..RefS.Pelvis.Seat_contactCenter; + Type = RotVector; + }; + + AnyKinEqSimpleDriver PelvisSeatEq = { + AnyKinLinear &LinearMeasure = .PelvisSeatLinMeasure; + AnyKinRotational &RotMeasure = .PelvisSeatRotMeasure; + MeasureOrganizer = {0,2,3,4}; + //DriverPos = {0.01,0,0,0}; + DriverPos = {-0.04,0,0,0}; + + DriverVel = {0,0,0,0}; + Reaction.Type = {Off,Off,Off,Off}; + }; + + AnyKinMeasureOrg PelvisSeatMeasureOrg = { + AnyKinLinear &LinearMeasure = .PelvisSeatLinMeasure; + MeasureOrganizer = {0}; + }; + }; // PelvisSeatJnt + + //------------------------------------------------ + // Joint - BackRest - Thorax + //------------------------------------------------ + AnyFolder BackRestThoraxJnt = { + + AnyKinLinear BackRestThoraxLinMeasure = { + AnyRefFrame &BackRestRef = ..RefP.Seg.BackRest; + AnyRefFrame &ThoraxRef = ..RefH.Trunk.SegmentsThorax.ThoraxSeg.T2SupportNode;//ThoraxBackRestJntNode; + Ref = 0; + }; + + AnyKinEqSimpleDriver BackRestThoraxEq = { + AnyKinLinear &LinearMeasure = .BackRestThoraxLinMeasure; + MeasureOrganizer = {0}; + DriverPos = {0.03}; + DriverVel = {0}; + Reaction.Type = {Off}; + }; + }; // BackRestThoraxJnt + +// this is default in Body now! +// AnyReacForce T10={ +// AnyJoint &ref= Main.Model.BodyModel.Trunk.JointsLumbar.T12L1Jnt; +// }; +// + AnyFolder FootRestFootJnt = { + AnyFolder Right = { + + AnyKinLinear FootRestFootLinMeasure = { + AnyRefFrame &FootRestRef = ...RefP.Seg.FootRest.FootRestRotNodeRight;//FootRestFootJntNodeRight; + AnyRefFrame &FootRef = ...RefH.Right.Leg.Seg.Foot.AnatomicalFrame.FootFootRestJntNode; + Ref = 0; + }; + + AnyKinRotational FootRestFootRotMeasure = { + AnyRefFrame &FootRestRef = .FootRestFootLinMeasure.FootRestRef; + AnyRefFrame &FootRef = .FootRestFootLinMeasure.FootRef; + Type = RotVector; + }; + + AnyKinEqSimpleDriver FootRestFootEq = { + AnyKinLinear &LinMeasure = .FootRestFootLinMeasure; + AnyKinRotational &RotMeasure = .FootRestFootRotMeasure; + MeasureOrganizer = {0,1,2,4,5}; + DriverPos = {0.01,0,0,0,0}; + DriverVel = {0,0,0,0,0}; + Reaction.Type = {Off,Off,Off,Off,Off}; + }; + + AnyKinMeasureOrg FootRestFootMeasureOrg = { + AnyKinLinear &LinearMeasure = .FootRestFootLinMeasure; + MeasureOrganizer = {0}; + }; + + AnyKinEqSimpleDriver AnkleDriver ={ + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyJoint &ref = ...RefH.Right.Leg.Jnt.Ankle; + MeasureOrganizer={1}; + #else + AnyJoint &ref = ...RefH.Right.Leg.Jnt.SubTalar; + #endif + DriverPos={0}; + DriverVel={0}; + }; + }; //Right + + AnyFolder Left = { + + AnyKinLinear FootRestFootLinMeasure = { + AnyRefFrame &FootRestRef = ...RefP.Seg.FootRest.FootRestRotNodeLeft; + AnyRefFrame &FootRef = ...RefH.Left.Leg.Seg.Foot.AnatomicalFrame.FootFootRestJntNode; + Ref = 0; + }; + + AnyKinRotational FootRestFootRotMeasure = { + AnyRefFrame &FootRestRef = .FootRestFootLinMeasure.FootRestRef; + AnyRefFrame &FootRef = .FootRestFootLinMeasure.FootRef; + + Type = RotVector; + }; + AnyKinEqSimpleDriver FootRestFootEq = { + AnyKinLinear &LinMeasure = .FootRestFootLinMeasure; + AnyKinRotational &RotMeasure = .FootRestFootRotMeasure; + MeasureOrganizer = {0,1,2,4,5}; + DriverPos = {0.01,0,0,0,0}; + DriverVel = {0,0,0,0,0}; + Reaction.Type = {Off,Off,Off,Off,Off}; + }; + + AnyKinMeasureOrg FootRestFootMeasureOrg = { + AnyKinLinear &LinearMeasure = .FootRestFootLinMeasure; + MeasureOrganizer = {0}; + }; + + AnyKinEqSimpleDriver AnkleDriver ={ + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyJoint &ref = ...RefH.Left.Leg.Jnt.Ankle; + MeasureOrganizer={1}; + #else + AnyJoint &ref = ...RefH.Left.Leg.Jnt.SubTalar; + #endif + DriverPos={0}; + DriverVel={0}; + }; + }; //Left + +// AnyFolder Right = { +// +// AnyKinLinear FootRestFootLinMeasure = { +// AnyRefFrame &FootRestRef = ...RefP.Seg.FootRest.FootRestFootJntNodeRight; +// AnyRefFrame &FootRef = ...RefH.Right.Leg.Seg.Foot.FootFootRestJntNode; +// Ref = 0; +// }; +// +// AnyKinRotational FootRestFootRotMeasure = { +// AnyRefFrame &FootRestRef = ...RefP.Seg.FootRest.FootRestFootJntNodeRight; +// AnyRefFrame &FootRef = ...RefH.Right.Leg.Seg.Foot.FootFootRestJntNode; +// Type = RotVector; +// }; +// +// AnyKinEqSimpleDriver FootRestFootEq = { +// AnyKinLinear &LinMeasure = .FootRestFootLinMeasure; +// AnyKinRotational &RotMeasure = .FootRestFootRotMeasure; +// MeasureOrganizer = {0,1,2,4,5}; +// DriverPos = {0.01,0,0,0,0}; +// DriverVel = {0,0,0,0,0}; +// Reaction.Type = {Off,Off,Off,Off,Off}; +// }; +// +// AnyKinMeasureOrg FootRestFootMeasureOrg = { +// AnyKinLinear &LinearMeasure = .FootRestFootLinMeasure; +// MeasureOrganizer = {0}; +// }; +// +//// AnyKinEqSimpleDriver AnkleDriver ={ +//// #if BM_LEG_MODEL == _LEG_MODEL_LEG_ +//// AnyKinMeasure& ref =...RefH.Interface.Right.AnkleEversion; +//// #else +//// AnyKinMeasure& ref =...RefH.Interface.Right.SubTalarEversion; +////#endif +//// +//// DriverPos={0}; +//// DriverVel={0}; +//// }; +//AnyKinEqSimpleDriver AnkleDriver ={ +// #if BM_LEG_MODEL == _LEG_MODEL_LEG_ +// AnyJoint &ref = ...RefH.Right.Leg.Jnt.Ankle; +// MeasureOrganizer={1}; +// #else +// AnyJoint &ref = ...RefH.Right.Leg.Jnt.SubTalar; +// #endif +// DriverPos={0}; +// DriverVel={0}; +// }; +// +// +// }; //Right +// +// AnyFolder Left = { +// +// AnyKinLinear FootRestFootLinMeasure = { +// AnyRefFrame &FootRestRef = ...RefP.Seg.FootRest.FootRestFootJntNodeLeft; +// AnyRefFrame &FootRef = ...RefH.Left.Leg.Seg.Foot.FootFootRestJntNode; +// Ref = 0; +// }; +// +// AnyKinRotational FootRestFootRotMeasure = { +// AnyRefFrame &FootRestRef = ...RefP.Seg.FootRest.FootRestFootJntNodeLeft; +// AnyRefFrame &FootRef = ...RefH.Left.Leg.Seg.Foot.FootFootRestJntNode; +// Type = RotVector; +// }; +// AnyKinEqSimpleDriver FootRestFootEq = { +// AnyKinLinear &LinMeasure = .FootRestFootLinMeasure; +// AnyKinRotational &RotMeasure = .FootRestFootRotMeasure; +// MeasureOrganizer = {0,1,2,4,5}; +// DriverPos = {0.01,0,0,0,0}; +// DriverVel = {0,0,0,0,0}; +// Reaction.Type = {Off,Off,Off,Off,Off}; +// }; +// +// AnyKinMeasureOrg FootRestFootMeasureOrg = { +// AnyKinLinear &LinearMeasure = .FootRestFootLinMeasure; +// MeasureOrganizer = {0}; +// }; +// +// AnyKinEqSimpleDriver AnkleDriver ={ +// #if BM_LEG_MODEL == _LEG_MODEL_LEG_ +// AnyJoint &ref = ...RefH.Left.Leg.Jnt.Ankle; +// MeasureOrganizer={1}; +// #else +// AnyJoint &ref = ...RefH.Left.Leg.Jnt.SubTalar; +// #endif +// DriverPos={0}; +// DriverVel={0}; +// }; +// +// +//// AnyKinEqSimpleDriver AnkleDriver ={ +//// +//// #if BM_LEG_MODEL == _LEG_MODEL_LEG_ +//// AnyKinMeasure& ref =...RefH.Interface.Left.AnkleEversion; +//// #else +//// AnyKinMeasure& ref =...RefH.Interface.Left.SubTalarEversion; +////#endif +//// +//// DriverPos={0}; +//// DriverVel={0}; +//// }; +// }; //Left + + }; // FootFootRestJnt + + // AnyFolder UlnaArmRestJnt = { + // + // AnyFolder Right = { + // AnyKinEqSimpleDriver ArmRestElbowLinMeasureXDrv={ + // AnyKinLinear ArmRestElbowLinMeasure = { + // AnyRefFrame &ArmRest = ....RefP.Seg.Right.ArmRest.ArmRestUlnaJntNodeBack; + // AnyRefFrame &Ulna = ....RefH.Right.ShoulderArm.Seg.Ulna.ol; + // }; + // MeasureOrganizer = {1}; + // DriverPos={0}; + // DriverVel={0}; + // Reaction.Type={Off}; + // }; + // + // AnyKinEqSimpleDriver ArmRestWristLinMeasureXDrv={ + // AnyKinLinear ArmRestWristLinMeasure = { + // AnyRefFrame &ArmRest = ....RefP.Seg.Right.ArmRest.ArmRestUlnaJntNodeFront; + // AnyRefFrame &Ulna = ....RefH.Right.ShoulderArm.Seg.Ulna.us; + // }; + // MeasureOrganizer = {1,2}; + // DriverPos={0,0}; + // DriverVel={0,0}; + // Reaction.Type={Off,Off}; + // }; + // }; // Right + // + // AnyFolder Left = { + // AnyKinEqSimpleDriver ArmRestElbowLinMeasureXDrv={ + // AnyKinLinear ArmRestElbowLinMeasure = { + // AnyRefFrame &ArmRest = ....RefP.Seg.Left.ArmRest.ArmRestUlnaJntNodeBack; + // AnyRefFrame &Ulna = ....RefH.Left.ShoulderArm.Seg.Ulna.ol; + // }; + // MeasureOrganizer = {1}; + // DriverPos={0}; + // DriverVel={0}; + // Reaction.Type={Off}; + // }; + // + // AnyKinEqSimpleDriver ArmRestWristLinMeasureXDrv={ + // AnyKinLinear ArmRestWristLinMeasure = { + // AnyRefFrame &ArmRest = ....RefP.Seg.Left.ArmRest.ArmRestUlnaJntNodeFront; + // AnyRefFrame &Ulna = ....RefH.Left.ShoulderArm.Seg.Ulna.us; + // }; + // MeasureOrganizer = {1,2}; + // DriverPos={0,0}; + // DriverVel={0,0}; + // Reaction.Type={Off,Off}; + // }; + // }; // Left + // }; // UlnaArmRestJnt +}; //Jnt + +//-------------------------------------------------- +// Drivers +//-------------------------------------------------- + +AnyFolder Drivers = { + + AnyFolder &RefHM = Main.Model.BodyModel; + AnyFolder &RefPM = Main.Model.EnvironmentModel; + AnyFolder &DrvPos = Main.DrvPos; + AnyFolder &DrvVel = Main.DrvVel; + AnyFolder &JntPos=..Mannequin.Posture; + AnyFolder &JntVel=..Mannequin.PostureVel; + + //------------------------------------------------------- + // Drivers - spine + //------------------------------------------------------- + + AnyKinEqSimpleDriver PelvisSeatDrv = { + AnyKinMeasure& LinMeasure = ..Jnt.PelvisSeatJnt.PelvisSeatLinMeasure; + MeasureOrganizer = {1}; + DriverPos = {-.DrvPos.PelvisSeatLinXPos}; + DriverVel = {-.DrvVel.PelvisSeatLinXVel}; + Reaction.Type = {Off}; + }; + + //------------------------------------------------------- + // Drivers - spine + //------------------------------------------------------- + + //Thorax pelvis rotation driver + AnyKinEqSimpleDriver PostureDriver ={ + AnyKinMeasure& Ref2 = ...BodyModel.Interface.Trunk.PelvisThoraxLateralBending; + AnyKinMeasure& Ref3 = ...BodyModel.Interface.Trunk.PelvisThoraxRotation; + //AnyKinMeasure& Ref1 = ...BodyModel.Interface.Trunk.PelvisThoraxExtension; + + DriverPos = pi/180*{ + .JntPos.PelvisThoraxLateralBending, + .JntPos.PelvisThoraxRotation + // .JntPos.PelvisThoraxExtension + }; + DriverVel = pi/180*{ + .JntVel.PelvisThoraxLateralBending, + .JntVel.PelvisThoraxRotation + // .JntVel.PelvisThoraxExtension + }; + Reaction.Type = {Off,Off}; + }; + + //Neck driver + AnyKinEqSimpleDriver NeckJntDriver = { + AnyKinMeasure& lb = ...BodyModel.Interface.Trunk.SkullThoraxLateralBending; + AnyKinMeasure& ar = ...BodyModel.Interface.Trunk.SkullThoraxRotation; + AnyKinMeasure& fe = ...BodyModel.Interface.Trunk.SkullThoraxFlexion; + DriverPos = pi/180*{.JntPos.NeckLateralBending, .JntPos.NeckRotation, -1*.JntPos.NeckExtension}; + DriverVel = pi/180*{.JntVel.NeckLateralBending, .JntVel.NeckRotation, -1*.JntVel.NeckExtension}; + Reaction.Type = {Off, Off, Off}; + }; + + //This was not previously... but is easier to use with the detailed spine + AnyKinRotational PelvisGlobalRotMeasure = { + AnyRefFrame &PelvisRef = .RefHM.Trunk.SegmentsLumbar.PelvisSeg; + AnyRefFrame &GlobalRef = .RefPM.GlobalRef; + Type = RotVector; + }; + + AnyKinMeasureOrg PelvisGlobalRotZMeasure = { + AnyKinMeasure& RotMeasure = .PelvisGlobalRotMeasure; + MeasureOrganizer = {2}; + }; + + AnyKinRotational ThoraxGlobalRotMeasure = { + AnyRefFrame &ThoraxRef = .RefHM.Trunk.SegmentsThorax.ThoraxSeg; + AnyRefFrame &GlobalRef = .RefPM.GlobalRef; + Type = RotVector; + }; + + AnyKinMeasureOrg ThoraxGlobalRotZMeasure = { + AnyKinMeasure& RotMeasure = .ThoraxGlobalRotMeasure; + MeasureOrganizer = {2}; + }; + + + // AnyKinEqSimpleDriver PelvisSeatRhythmDrv = { + // AnyKinMeasureLinComb Measure = { + // AnyKinMeasure& u1 = ..PelvisGlobalRotZMeasure; + // AnyKinMeasure& u2 = ..ThoraxGlobalRotZMeasure; + // Coef = {{1/(0.0533), -1/(0.0533)}}; + // Const = {-(0.6665/(-0.1433))}; + // }; // Measure + // DriverPos = {180*pi/180+Main.DrvPos.GlobalBackRestRotZPos}; + // DriverVel = {Main.DrvVel.GlobalBackRestRotZVel}; + // Reaction.Type = {Off}; + // }; // SeatBackRestDrv + + //AnyKinEqSimpleDriver tmp = { + // AnyKinRotational PelvisThorax = { + // AnyRefFrame &Thorax = Main.Model.BodyModel.Trunk.SegmentsThorax.ThoraxSeg; + // AnyRefFrame &Pelvis = Main.Model.BodyModel.Trunk.SegmentsLumbar.PelvisSeg; + // Type = RotAxesAngles; + // }; + // MeasureOrganizer = {0}; + // DriverPos = {30*pi/180}; + // DriverVel = {-15*pi/180}; + //}; + + // Rhythm between the hip angles and the lumbar spine angle. Based on Tully et al, + // Spine 27, E432-E440, the relationship between these angles is set to 3:1, + // where we define the hip angle as the average of the two hip angles. + + AnyKinEq ThoraxThighRhythm = { + AnyKinMeasureLinComb ThoraxThighRhythmComb = { + AnyKinMeasureOrg Org = { + AnySphericalJoint &rhip1 = Main.Model.BodyModel.Right.Leg.Jnt.Hip; + AnySphericalJoint &lhip2 = Main.Model.BodyModel.Left.Leg.Jnt.Hip; + AnyKinRotational PelvisThorax = { + AnyRefFrame &Thorax = Main.Model.BodyModel.Trunk.SegmentsThorax.ThoraxSeg; + AnyRefFrame &Pelvis = Main.Model.BodyModel.Trunk.SegmentsLumbar.PelvisSeg; + Type = RotAxesAngles; + }; + MeasureOrganizer = {2, 5, 6}; + }; + OutDim = 1; + Coef = {{0.5, 0.5, 3.0}}; + Const = {0}; + }; + }; + + AnyFolder Right = { + + // ************************************ + // Drivers for the right arm + // ************************************ + + //Sterno clavicular joint driver + AnyKinEqSimpleDriver SCDriverRight ={ + AnyKinMeasure& ref1 =....BodyModel.Interface.Right.SternoClavicularProtraction; + AnyKinMeasure& ref2 =....BodyModel.Interface.Right.SternoClavicularElevation; + DriverPos = pi/180*{ + ..JntPos.Right.SternoClavicularProtraction, + ..JntPos.Right.SternoClavicularElevation + }; + DriverVel = { + ..JntVel.Right.SternoClavicularProtraction, + ..JntVel.Right.SternoClavicularElevation + }; + Reaction.Type={Off,Off}; + }; + + //Glenohumeral joint + AnyKinEqSimpleDriver GHDriverRight={ + AnyKinMeasure& ref1 =....BodyModel.Interface.Right.GlenohumeralAbduction; + AnyKinMeasure& ref2 =....BodyModel.Interface.Right.GlenohumeralFlexion; + AnyKinMeasure& ref3 =....BodyModel.Interface.Right.GlenohumeralExternalRotation; + + DriverPos=pi/180*{ + ..JntPos.Right.GlenohumeralAbduction, //GH joint + ..JntPos.Right.GlenohumeralFlexion, //GH joint + ..JntPos.Right.GlenohumeralExternalRotation //GH joint + }; + DriverVel = pi/180*{ + ..JntVel.Right.GlenohumeralAbduction, //GH joint + ..JntVel.Right.GlenohumeralFlexion, //GH joint + ..JntVel.Right.GlenohumeralExternalRotation //GH joint + }; + Reaction.Type={Off,Off,Off}; + }; + + //Elbow flexion driver + AnyKinEqSimpleDriver ElbowFlexionDriverRight={ + AnyKinMeasureOrg &Elbow =....BodyModel.Interface.Right.ElbowFlexion; + DriverPos=pi/180*{..JntPos.Right.ElbowFlexion}; + DriverVel = pi/180*{..JntVel.Right.ElbowFlexion}; + Reaction.Type={Off}; + }; + + //Elbow pronation driver + AnyKinEqSimpleDriver ElbowPronationDriverRight={ + AnyKinMeasure& Elbow =....BodyModel.Interface.Right.ElbowPronation; + DriverPos = pi/180*{..JntPos.Right.ElbowPronation }; + + DriverVel=pi/180*{..JntVel.Right.ElbowPronation }; + Reaction.Type={Off}; + }; + + //Wrist driver + AnyKinEqSimpleDriver WristDriverRight ={ + AnyKinMeasure& ref1 =....BodyModel.Interface.Right.WristFlexion; + AnyKinMeasure& ref2 =....BodyModel.Interface.Right.WristAbduction; + DriverPos = pi/180*{ + ..JntPos.Right.WristFlexion, + ..JntPos.Right.WristAbduction + }; + + DriverVel = pi/180*{ + ..JntVel.Right.WristFlexion, + ..JntVel.Right.WristAbduction}; + Reaction.Type={Off,Off}; + }; + + }; //End Right + + AnyFolder Left = { + + // ************************************ + // Drivers for the left arm + // ************************************ + + //Sterno clavicular joint driver + AnyKinEqSimpleDriver SCDriverLeft ={ + AnyKinMeasure& ref1 =....BodyModel.Interface.Left.SternoClavicularProtraction; + AnyKinMeasure& ref2 =....BodyModel.Interface.Left.SternoClavicularElevation; + + DriverPos = pi/180*{ + ..JntPos.Left.SternoClavicularProtraction, + ..JntPos.Left.SternoClavicularElevation + }; + + DriverVel = pi/180*{ + ..JntVel.Left.SternoClavicularProtraction, + ..JntVel.Left.SternoClavicularElevation + }; + + Reaction.Type={Off,Off}; + }; + + AnyKinEqSimpleDriver GHDriverLeft={ + AnyKinMeasure& ref1 =....BodyModel.Interface.Left.GlenohumeralAbduction; + AnyKinMeasure& ref2 =....BodyModel.Interface.Left.GlenohumeralFlexion; + AnyKinMeasure& ref3 =....BodyModel.Interface.Left.GlenohumeralExternalRotation; + DriverPos=pi/180*{ + ..JntPos.Left.GlenohumeralAbduction, //GH joint + ..JntPos.Left.GlenohumeralFlexion, //GH joint + ..JntPos.Left.GlenohumeralExternalRotation //GH joint + }; + DriverVel = pi/180*{ + ..JntVel.Left.GlenohumeralAbduction, //GH joint + ..JntVel.Left.GlenohumeralFlexion, //GH joint + ..JntVel.Left.GlenohumeralExternalRotation //GH joint + }; + Reaction.Type={Off,Off,Off}; + }; + + //Elbow flexion driver + AnyKinEqSimpleDriver ElbowFEDriverLeft={ + AnyKinMeasureOrg &Elbow =....BodyModel.Interface.Left.ElbowFlexion; + DriverPos=pi/180*{..JntPos.Left.ElbowFlexion}; + DriverVel = pi/180*{..JntVel.Left.ElbowFlexion}; + Reaction.Type={Off}; + }; + + //Elbow pronation driver + AnyKinEqSimpleDriver ElbowPSDriverLeft={ + AnyKinMeasure& Elbow =....BodyModel.Interface.Left.ElbowPronation; + DriverPos= pi/180*{..JntPos.Left.ElbowPronation }; + DriverVel = pi/180*{..JntVel.Left.ElbowPronation }; + Reaction.Type={Off}; + }; + //Wrist driver + AnyKinEqSimpleDriver WristDriverLeft ={ + AnyKinMeasure& ref1 =....BodyModel.Interface.Left.WristFlexion; + AnyKinMeasure& ref2 =....BodyModel.Interface.Left.WristAbduction; + DriverPos = pi/180*{ + ..JntPos.Left.WristFlexion, + ..JntPos.Left.WristAbduction}; + + DriverVel = pi/180*{ + ..JntVel.Left.WristFlexion, + ..JntVel.Left.WristAbduction}; + Reaction.Type={Off,Off}; + }; + }; //End Left +}; // Drivers +