680 lines (513 with data), 17.1 kB
AnyFolder EnvironmentModel = {
AnyComponentDefinition obj = {
};
AnyVec3 HandleRGB={0.3,0.3,0.3};
AnyVec3 MadressRGB={0.3,0.3,0.3};
/* **********************************************************
This folder contains the definition of the Environment
- GlobalRefFrame
********************************************************** */
AnyFixedRefFrame GlobalRef = {
Origin ={0.0,0,0.0};
AnyRefNode FloorNode ={
sRel={0,0.16,0};
AnyVec3 Color= {0.6,0.6,0.6}; //box color
AnyVar Opacity=1; //box Opacity
AnyVec3 Size={2,0.02,1};
#include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box
AnyRefNode Right ={
sRel={0.7,0,0.3};
// AnyDrawRefFrame drw={};
};
AnyRefNode Left ={
sRel={0.7,0,-0.3};
// AnyDrawRefFrame drw={};
};
};
#include "drawcoorsystem.any"
//AnyDrawRefFrame drw={};
AnyRefNode PelvisNode ={
sRel={0.45,1,0};
};
AnyRefNode RightWheelNode2 ={
sRel={0,1,0.23};
};
AnyRefNode LeftWheelNode2 ={
sRel={0,1,-0.27};
};
AnyRefNode RightMassNode ={
sRel={-0.1,1,0.25};
};
AnyRefNode LeftMassNode ={
sRel={-0.1,1,-0.25};
};
};//GlobalRef
AnyFixedRefFrame Bench ={
Origin={0,0.8,0};
AnyVec3 Color= .MadressRGB; //box color
AnyVar Opacity=1; //box Opacity
AnyVec3 Size={1,.05,0.25};
#include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box
AnyRefNode Frame ={
sRel={0.1,-0.35,0};
AnyVec3 Color= 0.8*..MadressRGB; //box color
AnyVar Opacity=1; //box Opacity
AnyVec3 Size={1,.5,0.25};
#include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box
};
AnyRefNode Node1 ={sRel={.Size[0]*0.5,0,0};
//AnyDrawRefFrame drw={RGB={0,0,1};};
};
};
AnySeg ThoraxRest ={
Mass=10;
Jii={0,0,0};
r0 ={0.692836, 1.029813, 0.000000};
Axes0 = {{-0.642788, 0.766044, 0.000000}, {-0.766044, -0.642788, 0.000000}, {0.000000, 0.000000, 1.000000}};
AnyVec3 Color= .MadressRGB;
AnyVar Opacity=1; //box Opacity
AnyVec3 Size={0.35,.05,0.25};
#include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box
//AnyDrawRefFrame drw={};
AnyRefNode Node1 ={
sRel={.Size[0]*0.5,0,0};
//AnyDrawRefFrame drw={};
};
AnyRefNode Node2 = {
sRel={-.Size[0]*0.5,0,0};
//AnyDrawRefFrame drw={};
};
};
AnyKinEqSimpleDriver drv={
AnyRevoluteJoint jnt={
AnyRefNode &ref1=..Bench.Node1;
AnyRefNode &ref2=..ThoraxRest.Node1;
Axis=z;
};
DriverPos={-130*pi/180};
DriverVel={0};
};
AnySeg ArmRest ={
Axes0 = {{-0.173648, -0.984808, 0.000000}, {0.984808, -0.173648, 0.000000}, {0.000000, 0.000000, 1.000000}};
Mass=10;
Jii={0,0,0};
r0 ={0.856123, 0.986061, 0.000000};
// Axes0 = {{-0.642788, 0.766044, 0.000000}, {-0.766044, -0.642788, 0.000000}, {0.000000, 0.000000, 1.000000}};
AnyVec3 Color= .MadressRGB;
AnyVar Opacity=1; //box Opacity
AnyVec3 Size={0.4,.05,0.5};
#include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box
//AnyDrawRefFrame drw={};
AnyRefNode Node1 ={sRel={.Size[0]*0.5,0,0};
//AnyDrawRefFrame drw={};
};
AnyRefNode Node2 ={sRel={-.Size[0]*0.5,0,0};
//AnyDrawRefFrame drw={};
};
AnyRefNode RightWheelNode1 ={sRel={0.08,-0.05,.Size[2]*0.5};
//AnyDrawRefFrame drw={RGB={0,1,0};};
};
AnyRefNode LeftWheelNode1 ={sRel={0.08,-0.05,-.Size[2]*0.5};
//AnyDrawRefFrame drw={RGB={0,1,0};};
};
};
AnyKinEqSimpleDriver ArmRestDrv={
AnyRevoluteJoint jnt={
AnyRefNode &ref1=..ThoraxRest.Node2;
AnyRefNode &ref2=..ArmRest.Node1;
Axis=z;
};
DriverPos={-130*pi/180};
DriverVel={0};
};
AnyFolder Right ={
AnyComponentDefinition obj = {
SubGroupRegexSearch = "([_[:alnum:]]+?)\.([_[:alnum:]]+?)";
SubGroupRegexReplace = "$1";
};
AnySeg Wheel1 ={
Mass=0;
Jii={0,0,0};
r0 ={0.873488, 0.887580, 0.250000};
Axes0 = {{-0.984808, 0.173648, 0.000000}, {-0.173648, -0.984808, 0.000000}, {0.000000, 0.000000, 1.000000}};
//AnyDrawRefFrame drw={};
AnyRefNode CylNode1={
sRel={-0.065,-0.065,-0.0};
AnySurfCylinder Cyl1={
Radius=0.1;
Length=0.04;
AnyDrawParamSurf drw={
Opacity=1;
RGB= {0.4,0.4,0.4};
};
};
AnyRefNode WireNode={
sRel={0.0,0.102,0.02};
//AnyDrawRefFrame drw={};
};
};
/*AnyRefNode CylNode2={
sRel={0,0,0.03};
AnySurfCylinder Cyl2={
Radius=0.1;
Length=0.02;
AnyDrawParamSurf drw={};
};
};*/
AnyRefNode Node0={
//AnyDrawRefFrame drw={};
sRel={0,0.0,0};
};
AnyRefNode Node1={
//AnyDrawRefFrame drw={};
sRel={0,0.34,0};
};
AnyRefNode Node2={
//AnyDrawRefFrame drw={};
sRel={0,0.34,-0.2};
};
//Draw a visual line between the points
AnyFolder Line ={
AnyRefFrame &node1=.Node0;
AnyRefFrame &node2=.Node1;
AnyRefFrame &node3=.Node2;
AnyDrawPLine line ={
Thickness=0.02;
RGB=....HandleRGB;
};
};
};
AnyKinEqSimpleDriver Drv={
AnyRevoluteJoint Wheel1Jnt={
AnyRefNode &ref1=...ArmRest.RightWheelNode1;
AnySeg &ref2 =..Wheel1;
};
DriverPos={1.4};
DriverVel={0.7*pi}/Main.Study.tEnd;
Reaction.Type={Off};
};
AnySeg Handle ={
Mass=0;
Jii={0,0,0};
r0 ={0.925583, 0.592138, 0.050000};
Axes0 = {{0.173648, 0.984808, 0.000000}, {-0.984808, 0.173648, 0.000000}, {0.000000, 0.000000, 1.000000}};
AnyRefNode Node0={
//AnyDrawRefFrame drw={};
sRel={0,0.0,0};
};
AnyRefNode Node1={
//AnyDrawRefFrame drw={};
sRel={0,0.14,0.0};
};
AnyRefNode Node2={
//AnyDrawRefFrame drw={};
sRel={0,0.14,0.16};
};
AnyRefNode Node3={
//AnyDrawRefFrame drw={};
sRel={0,0.14,0.20};
};
//Draw a visual line between the points
AnyFolder Line ={
AnyRefFrame &node1=.Node0;
AnyRefFrame &node2=.Node1;
AnyRefFrame &node3=.Node2;
AnyRefFrame &node4=.Node3;
AnyDrawPLine line ={
Thickness=0.02;
RGB=....HandleRGB;
};
};
};
//AnyKinEqSimpleDriver HandleDrv={
AnyRevoluteJoint jnt={
AnyRefNode &ref1=.Wheel1.Node2;
AnyRefNode &ref2=.Handle.Node0;
Axis=z;
};
// DriverPos={90*pi/180};
// DriverVel={0};
//};
AnySeg Wheel2 ={
Mass=0;
Jii={0,0,0};
r0={-0.5,0.5,0};
AnyRefNode CylNode1={
sRel={0,0,0.0};
AnySurfCylinder Cyl1={
Radius=0.1;
Length=0.04;
AnyDrawParamSurf drw={
Opacity=1;
RGB= {0.4,0.4,0.4};
};
};
};
};
AnyKinEqSimpleDriver Wheel2Drv={
AnyRevoluteJoint JntWheel2={
AnySeg &ref1=..Wheel2;
AnyRefNode &ref2=...GlobalRef.RightWheelNode2;
Axis=z;
};
DriverPos={0};
DriverVel={0};
};
AnySeg Mass={
Mass=5;
Jii={0,0,0};
AnyRefNode CylNode ={
sRel={0,0,0.0};
AnyVec3 Color= {0.4,0.4,0.4}; //box color
AnyVar Opacity=1; //box Opacity
AnyVec3 Size={0.2,0.2,0.2};
#include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box
};
AnyRefNode Logo={
sRel={0,0.0,0.1};
AnyDrawSTL Body = {
FileName = ANYBODY_PATH_MODELUTILS+"DrawObjects/Body-grey.stl";
RGB = Main.DrawSettings.Colors.AnyBodyGrey;
Opacity = 1;
ScaleXYZ={0.005,0.005,0.005};
};
AnyDrawSTL AnyTechnology = {
FileName = ANYBODY_PATH_MODELUTILS+"DrawObjects/AnyTechnology-red.stl";
RGB = Main.DrawSettings.Colors.AnyBodyRed;
Opacity = 1;
ScaleXYZ={0.005,0.005,0.005};
};
};
};
AnyPrismaticJoint MassJnt = {
Axis = y;
Ref = 0;
AnyRefFrame &ref1=..GlobalRef.RightMassNode;
AnyRefFrame &ref2=.Mass;
};
/*
AnyKinEqSimpleDriver MassDrv={
AnyPrismaticJoint &ref1=.MassJnt;
DriverPos={-0.6};
DriverVel={0.0}/Main.Study.tEnd;
Reaction.Type={0};
};
*/
//{{1.502216}, {1.497936}, {1.494521}, {1.492025}, {1.490487}, {1.489931}, {1.490365}, {1.491780}, {1.494153}, {1.497445}, {1.501613}, {1.506589}, {1.512299}, {1.518659}, {1.525580}, {1.532955}, {1.541041}, {1.550040}, {1.559904}, {1.570773}, {1.582540}};
AnyKinEqInterPolDriver MassDrv={
AnyPrismaticJoint &ref1=.MassJnt;
Type=Bspline;
BsplineOrder = 4;
T = {0,0.25,0.33,0.5,0.75,1}*Main.Study.tEnd;
// Data={{-0.6,-0.6,-0.60,-0.585,-0.57,-0.53}};
//Data={{-0.6,-0.595,-0.59,-0.57,-0.53,-0.47}};
Data={{-0.52,-0.515,-0.51,-0.505,-0.49,-0.43}};
Reaction.Type={Off};
};
AnyKinSPLine Wire={
AnyRefNode &ref1=.Wheel1.CylNode1.WireNode;
AnySeg &ref2=.Mass;
AnySurfCylinder &ref3=.Wheel1.CylNode1.Cyl1;
AnySurfCylinder &ref5=.Wheel2.CylNode1.Cyl1;
AnyDrawPLine drw={Thickness=0.005; RGB={0.1,0.1,0.1};};
InitWrapPosVectors ={{0,0.5,0},{-1,2,0}};
StringMesh=70;
//RelTol=1e-4;
};
AnyReacForce WireReaction={
AnyKinSPLine &ref=.Wire;
};
}; //right
AnyFolder Left ={
AnyComponentDefinition obj = {
SubGroupRegexSearch = "([_[:alnum:]]+?)\.([_[:alnum:]]+?)";
SubGroupRegexReplace = "$1";
};
AnySeg Wheel1 ={
Mass=0;
Jii={0,0,0};
r0 ={0.873488, 0.887580, 0.250000};
Axes0 = {{-0.984808, 0.173648, 0.000000}, {-0.173648, -0.984808, 0.000000}, {0.000000, 0.000000, 1.000000}};
//AnyDrawRefFrame drw={};
AnyRefNode CylNode1={
sRel={-0.065,-0.065,-0.0};
AnySurfCylinder Cyl1={
Radius=0.1;
Length=0.04;
AnyDrawParamSurf drw={
Opacity=1;
RGB= {0.4,0.4,0.4};
};
};
AnyRefNode WireNode={
sRel={0.0,0.102,0.02};
//AnyDrawRefFrame drw={};
};
};
AnyRefNode Node0={
//AnyDrawRefFrame drw={};
sRel={0,0.0,0};
};
AnyRefNode Node1={
//AnyDrawRefFrame drw={};
sRel={0,0.34,0};
};
AnyRefNode Node2={
//AnyDrawRefFrame drw={};
sRel={0,0.34,0.2};
};
//Draw a visual line between the points
AnyFolder Line ={
AnyRefFrame &node1=.Node0;
AnyRefFrame &node2=.Node1;
AnyRefFrame &node3=.Node2;
AnyDrawPLine line ={
Thickness=0.02;
RGB=....HandleRGB;
};
};
};
AnyKinEqSimpleDriver Drv={
AnyRevoluteJoint Wheel1Jnt={
AnyRefNode &ref1=...ArmRest.LeftWheelNode1;
AnySeg &ref2 =..Wheel1;
};
DriverPos={1.4};
DriverVel={0.7*pi}/Main.Study.tEnd;
Reaction.Type={Off};
};
AnySeg Handle ={
Mass=0;
Jii={0,0,0};
r0 ={0.925583, 0.592138, 0.050000};
Axes0 = {{0.173648, 0.984808, 0.000000}, {-0.984808, 0.173648, 0.000000}, {0.000000, 0.000000, 1.000000}};
AnyRefNode Node0={
//AnyDrawRefFrame drw={};
sRel={0,0.0,0};
};
AnyRefNode Node1={
//AnyDrawRefFrame drw={};
sRel={0,0.14,0.0};
};
AnyRefNode Node2={
//AnyDrawRefFrame drw={};
sRel={0,0.14,-0.16};
};
AnyRefNode Node3={
//AnyDrawRefFrame drw={};
sRel={0,0.14,-0.20};
};
//Draw a visual line between the points
AnyFolder Line ={
AnyRefFrame &node1=.Node0;
AnyRefFrame &node2=.Node1;
AnyRefFrame &node3=.Node2;
AnyRefFrame &node4=.Node3;
AnyDrawPLine line ={
Thickness=0.02;
RGB=....HandleRGB;
};
};
};
//AnyKinEqSimpleDriver HandleDrv={
AnyRevoluteJoint jnt={
AnyRefNode &ref1=.Wheel1.Node2;
AnyRefNode &ref2=.Handle.Node0;
Axis=z;
};
// DriverPos={90*pi/180};
// DriverVel={0};
//};
AnySeg Wheel2 ={
Mass=0;
Jii={0,0,0};
r0={-0.5,0.5,-0.5};
AnyRefNode CylNode1={
sRel={0,0,0.0};
AnySurfCylinder Cyl1={
Radius=0.1;
Length=0.04;
AnyDrawParamSurf drw={
Opacity=1;
RGB= {0.4,0.4,0.4};
};
};
};
};
AnyKinEqSimpleDriver Wheel2Drv={
AnyRevoluteJoint JntWheel2={
AnySeg &ref1=..Wheel2;
AnyRefNode &ref2=...GlobalRef.LeftWheelNode2;
Axis=z;
};
DriverPos={0};
DriverVel={0};
};
AnySeg Mass={
Mass=5;
Jii={0,0,0};
AnyRefNode CylNode ={
sRel={0,0,0.0};
AnyVec3 Color= {0.4,0.4,0.4}; //box color
AnyVar Opacity=1; //box Opacity
AnyVec3 Size={0.2,0.2,0.2};
#include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box
};
AnyRefNode Logo={
sRel={0,0.0,-0.1};
ARel = RotMat(pi, y);
AnyDrawSTL Body = {
FileName = ANYBODY_PATH_MODELUTILS+"DrawObjects/Body-grey.stl";
RGB = Main.DrawSettings.Colors.AnyBodyGrey;
Opacity = 1;
ScaleXYZ={0.005,0.005,0.005};
};
AnyDrawSTL AnyTechnology = {
FileName = ANYBODY_PATH_MODELUTILS+"DrawObjects/AnyTechnology-red.stl";
RGB = Main.DrawSettings.Colors.AnyBodyRed;
Opacity = 1;
ScaleXYZ={0.005,0.005,0.005};
};
};
};
AnyPrismaticJoint MassJnt = {
Axis = y;
Ref = 0;
AnyRefFrame &ref1=..GlobalRef.LeftMassNode;
AnyRefFrame &ref2=.Mass;
};
/*
AnyKinEqSimpleDriver MassDrv={
AnyPrismaticJoint &ref1=.MassJnt;
DriverPos={-0.6};
DriverVel={0.0}/Main.Study.tEnd;
Reaction.Type={0};
};
*/
//{{1.502216}, {1.497936}, {1.494521}, {1.492025}, {1.490487}, {1.489931}, {1.490365}, {1.491780}, {1.494153}, {1.497445}, {1.501613}, {1.506589}, {1.512299}, {1.518659}, {1.525580}, {1.532955}, {1.541041}, {1.550040}, {1.559904}, {1.570773}, {1.582540}};
AnyKinEqInterPolDriver MassDrv={
AnyPrismaticJoint &ref1=.MassJnt;
Type=Bspline;
BsplineOrder = 4;
// T = {0,0.25,0.33,0.5,0.75,1}*Main.Study.tEnd;
// Data={{-0.6,-0.6,-0.60,-0.585,-0.57,-0.53}};
T = {0,0.25,0.33,0.5,0.75,1}*Main.Study.tEnd;
//Data={{-0.6,-0.595,-0.59,-0.57,-0.53,-0.47}};
Data={{-0.52,-0.515,-0.51,-0.505,-0.49,-0.43}};
Reaction.Type={Off};
};
AnyKinSPLine Wire={
AnyRefNode &ref1=.Wheel1.CylNode1.WireNode;
AnySeg &ref2=.Mass;
AnySurfCylinder &ref3=.Wheel1.CylNode1.Cyl1;
AnySurfCylinder &ref5=.Wheel2.CylNode1.Cyl1;
AnyDrawPLine drw={Thickness=0.005; RGB={0.1,0.1,0.1};};
InitWrapPosVectors ={{0,0.5,0},{-1,2,0}};
StringMesh=70;
//RelTol=1e-4;
};
AnyReacForce WireReaction={
AnyKinSPLine &ref=.Wire;
};
};//left
};
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