478 lines (378 with data), 15.6 kB
///This is the joint and driver file
AnyFolder JointsAndDrivers={
AnyFolder &RefHM = Main.Model.BodyModel;
AnyFolder &JntPos=.Mannequin.Posture;
AnyFolder &JntVel=.Mannequin.PostureVel;
//-------------------------------------------------------
// Drivers - spine
//-------------------------------------------------------
AnyKinRotational PelvisThoraxRotMeasure = {
AnyRefFrame &Pelvis = .RefHM.Trunk.SegmentsLumbar.PelvisSeg;
AnyRefFrame &Thorax = .RefHM.Trunk.SegmentsThorax.ThoraxSeg;
Type=RotAxesAngles;
};
// ************************************
// Drivers for the spine
// ************************************
//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};
};
//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,Off};
};
AnyKinLinear SideWayLin = {
AnySeg &ThoraxSegRef =.RefHM.Trunk.SegmentsThorax.ThoraxSeg;
AnyFixedRefFrame &groundfootr= Main.Model.Environment.GlobalRef;
}; //Foot to ground
AnyKinMeasureOrg SideWayLinOrg={
AnyKinLinear &ref=.SideWayLin;
MeasureOrganizer ={2};
};
AnyKinEqSimpleDriver SideWayLinDrv = {
AnyKinMeasure& Jnt = .SideWayLinOrg;
MeasureOrganizer = {0};
DriverPos = {0};
DriverVel = {0};
Reaction.Type ={Off};
};
AnyKinLinear ChestHeight = {
AnyFixedRefFrame &handground= Main.Model.Environment.GlobalRef;
AnyRefNode &thorax = .RefHM.Trunk.SegmentsThorax.ThoraxSeg.ij;
//AnyDrawPLine test={Thickness=0.005;RGB={0,0,1};};
};
AnyKinMeasureOrg ChestHeightOrg = {
AnyKinLinear &chestheight =.ChestHeight;
MeasureOrganizer={1};
};
AnyKinEqFourierDriver ChestHeightDrv ={
AnyKinMeasure& Jnt = .ChestHeightOrg;
Type = Cos;
AnyVar a0 =0.3;
AnyVar a1 =-0.15;
AnyVar b0 =0;
AnyVar b1=0;
AnyVar w = 2;
Freq = 1;
A = {{a0,a1}};
B = {{b0,b1}};
Reaction.Type = {Off};
};
AnyFolder Right ={
//------------------------------------------------------
//These definitions locks the hand to the ground
//-------------------------------------------------------
AnyFolder &hand = .RefHM.Right.ShoulderArm.Seg.Hand;
hand ={
AnyRefNode HandBall={
sRel={0.0,0,0};
ARel={{-1,0,0},{0,0,1},{0,1,0}};
};
};
AnyKinLinear HandToGroundLinMover = {
AnySeg &GroundNode = Main.Model.Environment.Right.Handle;
//AnyRefNode &HandNode = ..RefHM.Right.ShoulderArm.Seg.Ulna.us;
AnyRefNode &glove = ..RefHM.Right.ShoulderArm.Seg.Hand.HandBall;
};
AnyKinEq HandToGroundConstraintsMover={
AnyKinLinear &handtoground =.HandToGroundLinMover;
};
AnyKinRotational HandToGroundRotMover = {
AnySeg &GroundNode = Main.Model.Environment.Right.Handle;
AnyRefNode &glove = ..RefHM.Right.ShoulderArm.Seg.Hand.HandBall;
Type=RotAxesAngles;
};
AnyKinEqSimpleDriver HandToGroundRotMoverZYX={
AnyKinRotational &ref=.HandToGroundRotMover;
MeasureOrganizer={0,1,2};
DriverPos={0,pi,0};
DriverVel={0,0,0};
Reaction.Type={On,On,On};
};
/*
AnyKinLinear XYZmeasureElbowMover = {
Ref=0;
AnyFixedRefFrame &ground = Main.Model.Environment.Right.Handle;
AnyRefNode &elbow =..RefHM.Right.ShoulderArm.Seg.Humerus.em;
};
AnyKinEqSimpleDriver ElbowMotionZ = {
AnyKinLinear &Jnt = .XYZmeasureElbowMover;
MeasureOrganizer = {0};
DriverPos = {0.0};
DriverVel = {0.0};
Reaction.Type={0};
};
*/
//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};
};
//Arm position driver
AnyKinEqSimpleDriver ArmPosture ={
AnyKinLinear ShoulderElbowDist = {
Ref = 0;
AnyRefFrame& Thorax = ....BodyModel.Trunk.SegmentsThorax.ThoraxSeg.ij;
AnyRefFrame& Elbow = ....BodyModel.Right.ShoulderArm.Seg.Humerus.el;
};
MeasureOrganizer = {1};
DriverPos = {-0.1};
DriverVel = {0.0};
Reaction.Type={Off};
};
//-------------------------------------------------------
// Drivers for the leg, from hipjoint and downwards
//-------------------------------------------------------
// ************************************
// Drivers for the right leg
// ************************************
//Hip driver
AnyKinEqSimpleDriver HipDriverRight={
AnyKinMeasure& ref1 =...BodyModel.Interface.Right.HipFlexion;
AnyKinMeasure& ref2 =...BodyModel.Interface.Right.HipExternalRotation;
AnyKinMeasure& ref3 =...BodyModel.Interface.Right.HipAbduction;
DriverPos= pi/180*{
..JntPos.Right.HipFlexion,
..JntPos.Right.HipExternalRotation,
..JntPos.Right.HipAbduction
};
DriverVel = pi/180*{
..JntVel.Right.HipFlexion,
..JntVel.Right.HipExternalRotation,
..JntVel.Right.HipAbduction
};
Reaction.Type={Off,Off,Off};
};
//Knee driver
AnyKinEqSimpleDriver KneeDriverRight={
AnyKinMeasureOrg &Knee = ...BodyModel.Interface.Right.KneeFlexion;
DriverPos=pi/180*{..JntPos.Right.KneeFlexion};
DriverVel = pi/180*{..JntVel.Right.KneeFlexion};
Reaction.Type={Off};
};
//Ankle driver
AnyKinEqSimpleDriver AnkleDriverRight={
AnyKinMeasure& ref1=...BodyModel.Interface.Right.AnklePlantarFlexion;
#if BM_LEG_MODEL == _LEG_MODEL_LEG_
AnyKinMeasure& ref2=...BodyModel.Interface.Right.AnkleEversion;
#else
AnyKinMeasure& ref2=...BodyModel.Interface.Right.SubTalarEversion;
#endif
DriverPos = pi/180*{..JntPos.Right.AnklePlantarFlexion,..JntPos.Right.SubTalarEversion};
DriverVel=pi/180*{..JntVel.Right.AnklePlantarFlexion,..JntVel.Right.SubTalarEversion};
Reaction.Type={Off,Off};
};
//------------------------------------------------------
//These definitions locks the Foot to the ground
//-------------------------------------------------------
AnyKinLinear FootToGroundLin = {
AnyRefNode &groundfootr= Main.Model.Environment.GlobalRef.FootGroundR;
AnyRefNode &Foot = ..RefHM.Right.Leg.Seg.Foot.GroundJoint;
}; //Foot to ground
AnyKinMeasureOrg FootToGroundLinOrgY={
AnyKinLinear &ref=.FootToGroundLin;
MeasureOrganizer ={1};
};
//Recruited actuator that can only push
AnyRecruitedActuator FootToGroundLinConstraintsReaction = {
AnyKinMeasure& foottoground =.FootToGroundLinOrgY;
Strength = 3000;
SET_DEFAULT_ACTUATOR_VOLUME;
Type = NonNegative; //This changes the actuator's force direction and means that it will only push
};
AnyKinMeasureOrg FootToGroundLinOrgXY={
AnyKinLinear &ref=.FootToGroundLin;
MeasureOrganizer ={0,1};
};
AnyKinEqSimpleDriver FootToGroundLinConstraintsXY = {
AnyKinMeasure& foottoground =.FootToGroundLinOrgXY;
DriverPos = {0,0};
DriverVel = {0,0};
Reaction.Type={On,On};
};
AnyKinMeasureOrg FootToGroundLinOrgZ={
AnyKinLinear &ref=.FootToGroundLin;
MeasureOrganizer ={2};
};
AnyReacForce FootToGroundLinOrgZReaction={
AnyKinMeasure& ref=.FootToGroundLinOrgZ;
};
};//Right
AnyFolder Left ={
//------------------------------------------------------
//These definitions locks the hand to the ground
//-------------------------------------------------------
/*AnyKinLinear HandToGroundLinMover = {
AnyRefNode &GroundNode = Main.Model.Environment.Left.Handle;
// AnyRefNode &HandNode = ..RefHM.Left.ShoulderArm.Seg.Ulna.us;
AnyRefNode &HandNode = ..RefHM.Left.ShoulderArm.Seg.Glove;
}; //Hand to ground
*/
AnyFolder &hand = .RefHM.Left.ShoulderArm.Seg.Hand;
hand ={
AnyRefNode HandBall={
sRel={0.0,0,0};
ARel={{-1,0,0},{0,0,-1},{0,-1,0}};
};
};
AnyKinLinear HandToGroundLinMover = {
AnySeg &GroundNode = Main.Model.Environment.Left.Handle;
//AnyRefNode &HandNode = ..RefHM.Right.ShoulderArm.Seg.Ulna.us;
AnyRefNode &glove = ..RefHM.Left.ShoulderArm.Seg.Hand.HandBall;
};
AnyKinEq HandToGroundConstraintsMover={
AnyKinLinear &handtoground =.HandToGroundLinMover;
};
AnyKinRotational HandToGroundRotMover = {
//AnyRefNode &GroundNode = Main.Model.Environment.GlobalRef;//Main.Model.Environment.Left.Handle;
AnySeg &GroundNode = Main.Model.Environment.Left.Handle;
AnyRefNode &glove = ..RefHM.Left.ShoulderArm.Seg.Hand.HandBall;
Type=RotAxesAngles;
};
AnyKinEqSimpleDriver HandToGroundRotMoverZYX={
AnyKinRotational &ref=.HandToGroundRotMover;
MeasureOrganizer={0,1,2};
DriverPos={0,pi,0};
DriverVel={0,0,0};
Reaction.Type={On,On,On};
};
//-------------------------------------------------------
//This joint and driver controls the elbow pos in the frontal plane
//-------------------------------------------------------
//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};
};
//Arm position driver
AnyKinEqSimpleDriver ArmPosture ={
AnyKinLinear ShoulderElbowDist = {
Ref = 0;
AnyRefFrame& Thorax = ....BodyModel.Trunk.SegmentsThorax.ThoraxSeg.ij;
AnyRefFrame& Elbow = ....BodyModel.Left.ShoulderArm.Seg.Humerus.el;
};
MeasureOrganizer = {1};
DriverPos = {-0.1};
DriverVel = {0.0};
Reaction.Type={Off};
};
//-------------------------------------------------------
// Drivers for the leg, from hipjoint and downwards
//-------------------------------------------------------
// ************************************
// Drivers for the Left leg
// ************************************
//Left hip driver
AnyKinEqSimpleDriver HipDriverLeft={
AnyKinMeasure& ref1 =...BodyModel.Interface.Left.HipFlexion;
AnyKinMeasure& ref2 =...BodyModel.Interface.Left.HipExternalRotation;
AnyKinMeasure& ref3 =...BodyModel.Interface.Left.HipAbduction;
DriverPos=pi/180*{
..JntPos.Left.HipFlexion,
..JntPos.Left.HipExternalRotation,
..JntPos.Left.HipAbduction
};
DriverVel = pi/180*{
..JntVel.Left.HipFlexion,
..JntVel.Left.HipExternalRotation,
..JntVel.Left.HipAbduction
};
Reaction.Type={Off,Off,Off};
};
//Knee driver
AnyKinEqSimpleDriver KneeDriverLeft={
AnyKinMeasure& Knee =...BodyModel.Interface.Left.KneeFlexion;
DriverPos=pi/180*{ ..JntPos.Left.KneeFlexion };
DriverVel = pi/180*{ ..JntVel.Left.KneeFlexion };
Reaction.Type={Off};
};
//Ankle driver
AnyKinEqSimpleDriver AnkleDriverLeft={
AnyKinMeasure& ref1=...BodyModel.Interface.Left.AnklePlantarFlexion;
#if BM_LEG_MODEL == _LEG_MODEL_LEG_
AnyKinMeasure& ref2=...BodyModel.Interface.Left.AnkleEversion;
#else
AnyKinMeasure& ref2=...BodyModel.Interface.Left.SubTalarEversion;
#endif
DriverPos = pi/180*{..JntPos.Left.AnklePlantarFlexion,..JntPos.Left.SubTalarEversion};
DriverVel=pi/180*{..JntVel.Left.AnklePlantarFlexion,..JntVel.Left.SubTalarEversion};
Reaction.Type={Off,Off};
};
//------------------------------------------------------
//These definitions locks the Foot to the ground
//-------------------------------------------------------
AnyKinLinear FootToGroundLin = {
AnyRefNode &groundfootr= Main.Model.Environment.GlobalRef.FootGroundL;
AnyRefNode &Foot = ..RefHM.Left.Leg.Seg.Foot.GroundJoint;
}; //Foot to ground
AnyKinMeasureOrg FootToGroundLinOrgY={
AnyKinLinear &ref=.FootToGroundLin;
MeasureOrganizer ={1};
};
//Recruited actuator that can only push
AnyRecruitedActuator FootToGroundLinConstraintsReaction = {
AnyKinMeasure& foottoground =.FootToGroundLinOrgY;
Strength = 3000;
Type = NonNegative; //This changes the actuator's force direction and means that it will only push
SET_DEFAULT_ACTUATOR_VOLUME;
};
/*
AnyReacForce FootToGroundLinConstraintsY = {
AnyKinMeasure& foottoground =.FootToGroundLinOrgY;
};*/
AnyKinMeasureOrg FootToGroundLinOrgXY={
AnyKinLinear &ref=.FootToGroundLin;
MeasureOrganizer ={0,1};
};
AnyKinEqSimpleDriver FootToGroundLinConstraintsXY = {
AnyKinMeasure& foottoground =.FootToGroundLinOrgXY;
DriverPos = {0,0};
DriverVel = {0,0};
Reaction.Type={On,Off};
};
AnyKinMeasureOrg FootToGroundLinOrgZ={
AnyKinLinear &ref=.FootToGroundLin;
MeasureOrganizer ={2};
};
AnyReacForce FootToGroundLinOrgZReaction={
AnyKinMeasure& ref=.FootToGroundLinOrgZ;
};
};//left
};
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