499 lines (386 with data), 15.8 kB
// Todo: Write a small description of your model here
Main = {
AnyFolder Colors = {
AnyVec3 Nodes ={235/256,197/256,17/256}; //AnyBody standard yellow
AnyVec3 Segments = {235/256,197/256,17/256}; //AnyBody standard yellow
};
AnyFolder BodyParameters = {
AnyVar BodyMass = 75;
AnyVar BodyHeight = 1.88;
AnyVar Density = 1000;
};
AnyFolder BodyModel = {
AnyFixedRefFrame GlobalRef = {
Origin ={0.0,0.1,0.0};
AnyDrawRefFrame DrwGlobalRef = {
ScaleXYZ={0.5,0.5,0.5};
RGB ={0,0,1} ;
};
AnyRefNode PelvisGroundLock = {
sRel = {0.0,0.0,0.0};
};
};//GlobalRef
//-------------------------------------------------------
// Leg pos definition
//-------------------------------------------------------
AnyFixedRefFrame FootLocation = {
AnyDrawRefFrame DrwGlobalRef = {
ScaleXYZ={0.1,0.1,0.1};
RGB ={0,0,1} ;
};
Origin ={0.70,-0.4,0.20};
};
AnyFixedRefFrame KneePos = {
AnyDrawRefFrame DrwGlobalRef = {
ScaleXYZ={0.1,0.1,0.1};
RGB ={0,0,1} ;
};
Origin ={0.5,0.0,0.20};
};
//-------------------------------------------------------
// Control of GH position
//-------------------------------------------------------
AnyFixedRefFrame GHPos = {
AnyDrawRefFrame DrwGlobalRef = {
ScaleXYZ={0.1,0.1,0.1};
RGB ={0,0,1} ;
};
Origin ={-0.09,0.58,0.20};
};
//-------------------------------------------------------
// Arm frontal pos definition
//-------------------------------------------------------
AnyFixedRefFrame HandLocation = {
AnyDrawRefFrame DrwGlobalRef = {
ScaleXYZ={0.1,0.1,0.1};
RGB ={0,0,1} ;
};
Origin ={0.45,0.4,0.20};
};
AnyFixedRefFrame ElbowPos = {
AnyDrawRefFrame DrwGlobalRef = {
ScaleXYZ={0.1,0.1,0.1};
RGB ={0,0,1} ;
};
Origin ={0.3,0.4,0.20};
};
#include "Body.Model.any"
};//BodyModel
//-------------------------------------------------------
//This Seg
//-------------------------------------------------------
AnyFolder SetInitialPos ={
//-------------------------------------------------------
//This Initial pos for armshoulder segments
//-------------------------------------------------------
Main.BodyModel.Right.ShoulderArm.Seg.Humerus.r0 = {-0.083707, 0.568691, 0.182766};
Main.BodyModel.Right.ShoulderArm.Seg.Humerus.Axes0 = {{0.036562, -0.830751, -0.555442}, {-0.034728, 0.554422, -0.831511}, {0.998728, 0.049691, -0.008580}};
Main.BodyModel.Right.ShoulderArm.Seg.Scapula.r0 = {-0.118362, 0.613061, 0.199031};
Main.BodyModel.Right.ShoulderArm.Seg.Scapula.Axes0 = {{0.898861, -0.218230, -0.380032}, {0.201003, 0.975897, -0.084983}, {0.389418, -0.000000, 0.921061}};
Main.BodyModel.Right.ShoulderArm.Seg.Radius.r0 = {0.239102, 0.396104, 0.195996};
Main.BodyModel.Right.ShoulderArm.Seg.Radius.Axes0 = {{-0.998489, 0.054797, -0.004200}, {-0.054872, -0.998281, 0.020605}, {-0.003063, 0.020804, 0.999779}};
Main.BodyModel.Right.ShoulderArm.Seg.Ulna.r0 = {0.196187, 0.391280, 0.179439};
Main.BodyModel.Right.ShoulderArm.Seg.Ulna.Axes0 = {{0.148589, 0.987954, 0.043214}, {-0.014130, 0.045816, -0.998850}, {-0.988798, 0.147808, 0.020767}};
Main.BodyModel.Right.ShoulderArm.Seg.Hand.r0 = {0.470101, 0.426800, 0.197076};
Main.BodyModel.Right.ShoulderArm.Seg.Hand.Axes0 = {{-0.998489, 0.054797, -0.004200}, {-0.054872, -0.998281, 0.020605}, {-0.003063, 0.020804, 0.999779}};
Main.BodyModel.Right.ShoulderArm.Seg.Clavicula.r0 = {-0.132136, 0.609981, 0.000000};
Main.BodyModel.Right.ShoulderArm.Seg.Clavicula.Axes0 = {{0.069032, -0.218230, -0.973453}, {0.015437, 0.975897, -0.217683}, {0.997495, 0.000000, 0.070737}};
//-------------------------------------------------------
//This Initial pos for leg segments
//-------------------------------------------------------
Main.BodyModel.Right.Leg.Seg.Shank.r0 = {0.594929, -0.080616, 0.202714};
Main.BodyModel.Right.Leg.Seg.Shank.Axes0 = {{0.892092, -0.407002, -0.196266}, {0.400657, 0.913325, -0.072876}, {0.208916, -0.013623, 0.977839}};
Main.BodyModel.Right.Leg.Seg.Thigh.r0 = {0.257590, 0.060876, 0.174185};
Main.BodyModel.Right.Leg.Seg.Thigh.Axes0 = {{-0.252386, -0.947513, -0.196266}, {0.967389, -0.242584, -0.072876}, {0.021440, -0.208258, 0.977839}};
Main.BodyModel.Right.Leg.Seg.Foot.r0 = {0.778702, -0.350421, 0.219492};
Main.BodyModel.Right.Leg.Seg.Foot.Axes0 = {{-0.397348, -0.896434, -0.196266}, {0.917598, -0.390773, -0.072876}, {-0.011367, -0.209050, 0.977839}};
//-------------------------------------------------------
//This Initial pos for spine and thorax
//-------------------------------------------------------
Main.BodyModel.Trunk.Seg.Pelvis.r0 = {0.000000, 0.100000, 0.000000};
Main.BodyModel.Trunk.Seg.Pelvis.Axes0 = {{0.731689, -0.681639, 0.000000}, {0.681639, 0.731689, 0.000000}, {0.000000, 0.000000, 1.000000}};
Main.BodyModel.Trunk.Seg.Thorax.r0 = {-0.132136, 0.609981, 0.000000};
Main.BodyModel.Trunk.Seg.Thorax.Axes0 = {{0.975897, -0.218230, -0.000000}, {0.218230, 0.975897, -0.000000}, {0.000000, 0.000000, 1.000000}};
Main.BodyModel.Trunk.Seg.L4L5Seg.r0 = {-0.025298, 0.132476, 0.000000};
Main.BodyModel.Trunk.Seg.L4L5Seg.Axes0 = {{0.867819, -0.496880, -0.000000}, {0.496880, 0.867819, 0.000000}, {-0.000000, -0.000000, 1.000000}};
Main.BodyModel.Trunk.Seg.L2L3Seg.r0 = {-0.051114, 0.194959, 0.000000};
Main.BodyModel.Trunk.Seg.L2L3Seg.Axes0 = {{0.975897, -0.218230, 0.000000}, {0.218230, 0.975897, 0.000000}, {-0.000000, 0.000000, 1.000000}};
};
AnyFolder Drv = {
//-------------------------------------------------------
//This joint and driver locks the pelvis segment to the ground !
//-------------------------------------------------------
AnyRevoluteJoint PelvisGroundJoint = {
Axis = z;
AnyRefNode &PelvisNode = Main.BodyModel.Trunk.Seg.Pelvis.GroundLock;
AnyRefNode &GroundNode = Main.BodyModel.GlobalRef.PelvisGroundLock;
}; //Pelvis Ground Joint
AnyKinEqSimpleDriver GroundDriver = {
AnyRevoluteJoint &GroundJoint = .PelvisGroundJoint;
DriverPos = {-0.75};
DriverVel = {0};
Reaction.Type = {0};
};
//-------------------------------------------------------
//This joint locks the foot to the ground!
//-------------------------------------------------------
AnySphericalJoint HeelToGround = {
AnyRefNode &HeelNode = Main.BodyModel.Right.Leg.Seg.Foot.Heel;
AnyRefNode &GroundNode = ..BodyModel.FootLocation;
}; //Heel to ground
//-------------------------------------------------------
//This joint and driver controls the knee pos in the frontal plane
//-------------------------------------------------------
AnyKinLinear XYZmeasureKnee = {
AnyFixedRefFrame& Ground = ..BodyModel.KneePos;
AnyRefNode &Knee = Main.BodyModel.Right.Leg.Seg.Shank.KneeJoint;
};
AnyKinEqSimpleDriver KneeMotionZ = {
AnyKinLinear &Jnt = .XYZmeasureKnee;
MeasureOrganizer = {2};
DriverPos = {0};
DriverVel = {0.0};
// DriverAcc = {0.0};
Reaction.Type = {0.0};
};
//-------------------------------------------------------
//This joint locks the hand to the ground!
//-------------------------------------------------------
AnySphericalJoint HandToGround = {
AnyRefNode &HandNode = Main.BodyModel.Right.ShoulderArm.Seg.Hand.Hand;
AnyRefNode &GroundNode = ..BodyModel.HandLocation;
}; //Heel to ground
//-------------------------------------------------------
//This joint and driver controls the elbow pos in the frontal plane
//-------------------------------------------------------
AnyKinLinear XYZmeasureElbow = {
AnyFixedRefFrame& Ground = ..BodyModel.ElbowPos;
AnyRefNode &Knee = Main.BodyModel.Right.ShoulderArm.Seg.Humerus.em;
};
AnyKinEqSimpleDriver ElbowMotionZ = {
AnyKinLinear &Jnt = .XYZmeasureElbow;
MeasureOrganizer = {2};
DriverPos = {0};
DriverVel = {0.0};
// DriverAcc = {0.0};
// Reaction.Type = {0.0};
};
//-------------------------------------------------------
// Standard drivers
//-------------------------------------------------------
//-------------------------------------------------------
// Drives for the spine model
//-------------------------------------------------------
AnyKinEqSimpleDriver L5PelvisJntDriver = {
AnyRevoluteJoint &L5PelvisJoint = Main.BodyModel.Trunk.Jnt.L5PelvisJnt;
DriverPos = {-0.20};
DriverVel = {0.};
// Reaction.Type = {0.0};
Reaction.Type = {0.0};
};
AnyKinEqSimpleDriver L3L4JntDriver = {
AnyRevoluteJoint &L3L4Joint = Main.BodyModel.Trunk.Jnt.L3L4Jnt;
DriverPos = {-0.20};
DriverVel = {0.0};
// Reaction.Type = {0.0};
Reaction.Type = {0.0};
};
AnyKinEqSimpleDriver HATL2JntDriver = {
AnyRevoluteJoint &HATL2Joint = Main.BodyModel.Trunk.Jnt.HATL2Jnt;
DriverPos = {-0.20};
DriverVel = {0.0};
// Reaction.Type = {0.0};
Reaction.Type = {0.0};
};
//-------------------------------------------------------
// Drivers for the shoulder and the arm
//-------------------------------------------------------
/*
AnyKinEqSimpleDriver SC_Driver = {
AnySphericalJoint &joint = Main.BodyModel.Right.ShoulderArm.Jnt.SC;
DriverPos = {0,-1.50,0};
DriverVel = {0.0,0.5,0.0};
Reaction.Type = {0.0,0.0,0.0};
};
AnyKinEqSimpleDriver AC_Driver = {
AnyUniversalJoint &joint = Main.BodyModel.Right.ShoulderArm.Jnt.AC;
DriverPos = {1.1,0.0};
DriverVel = {0.0,0.0};
Reaction.Type = {0.0,0.0};
};
AnyKinEqSimpleDriver GH_Driver = {
AnySphericalJoint &joint = Main.BodyModel.Right.ShoulderArm.Jnt.GH;
//DriverPos = {0.0,-1.65,0.25};
// DriverPos = {1.5,-0.015,1.25};//hand in the air !
// DriverPos = {0.7,-1.5,0.5};
DriverPos = {0.7,-1.1,0.4};
DriverVel = {1.0,0.0,0.0};
Reaction.Type = {0.0,0.0,0.0};
};
AnyKinEqSimpleDriver FEDriver = {
AnyRevoluteJoint &joint = Main.BodyModel.Right.ShoulderArm.Jnt.HumeroUlnarJoint;
DriverPos = {2.5};
DriverVel = {0.0};
Reaction.Type = {1.0};
};
*/
AnyKinEqSimpleDriver PSDriver = {
AnyRevoluteJoint &joint = Main.BodyModel.Interface.Right.ElbowPronation;
DriverPos = {0.0};
DriverVel = {0.0};
Reaction.Type = {0.0};
};
AnyKinEqSimpleDriver Wrist_Driver = {
AnySphericalJoint &joint =Main.BodyModel.Right.ShoulderArm.Jnt.WristJoint;
DriverPos = {0.0,0.0,-0.0};
DriverVel = {0.0,0.0,0.0};
Reaction.Type = {1.0,1.0,1.0};
};
AnyKinLinear XYZMeasureGH = {
AnyFixedRefFrame& GHGround = ..BodyModel.GHPos;
AnyRefNode &GH = Main.BodyModel.Right.ShoulderArm.Seg.Scapula.gh;
};
AnyKinEqSimpleDriver GHMotion = {
AnyKinLinear &Jnt = .XYZMeasureGH;
MeasureOrganizer = {0,1};
DriverPos = {0.04,0};
//stc DriverPos = {0.03,0.0};
//stc 2 DriverPos = {0.0,0.0};
//stc 3 DriverPos = {0.0,0.1};
DriverVel = {0.0,0.0};
// DriverAcc = {0.0};
Reaction.Type = {0.0,0.0};
};
//-------------------------------------------------------
// Drivers for the leg, from hipjoint and downwards
//-------------------------------------------------------
AnyKinEqSimpleDriver AnkleDriver = {
AnyRevoluteJoint &AnkleJoint = Main.BodyModel.Right.Leg.Jnt.Ankle;
DriverPos = {1.56};
DriverVel = {0.0};
Reaction.Type = {0.0};
};
// AnyKinEqSimpleDriver KneeDriver = {
// AnyRevoluteJoint &KneeJoint = Main.BodyModel.Right.Leg.Jnt.Knee;
// DriverPos = {-1.76};
// DriverVel = {0.88};
// Reaction.Type = {0.0};
// };
// AnyKinEqSimpleDriver HipDriver = {
// AnySphericalJoint &HipJoint = Main.BodyModel.Right.Leg.Jnt.Hip;
// DriverPos = {0.0,0,-1.70};
// DriverVel = {0,0,0.0};
// Reaction.Type = {0,0,0};
// };
}; //End drv
//---------------------------------------------------------
// Loading
//---------------------------------------------------------
AnyFolder BackLoad= {
AnySeg &ThoraxRef= Main.BodyModel.Trunk.Seg.Thorax;
ThoraxRef={
AnyRefNode FThorax1 = {sRel = {-0.12000000, 0.000000 , 0.000000};
AnyDrawRefFrame DrwGlobalRef = {ScaleXYZ={0.1,0.,0.}; RGB ={1,0,0}; };
};
AnyRefNode FThorax2 = {sRel = {-0.15000000, -0.1700000 , 0.000000};
AnyDrawRefFrame DrwGlobalRef = {ScaleXYZ={0.1,0.,0.}; RGB ={1,0,0}; };
};
AnyRefNode FThorax3 = {sRel = {-0.12000000, -0.3400000 , 0.000000};
AnyDrawRefFrame DrwGlobalRef = {ScaleXYZ={0.1,0.,0.}; RGB ={1,0,0}; };
};
};
AnySeg &FL2L3Ref= Main.BodyModel.Trunk.Seg.L2L3Seg;
FL2L3Ref = {
AnyRefNode FL2L3 = {sRel = {-0.0500000, 0.000000 , 0.000000};
AnyDrawRefFrame DrwGlobalRef = {ScaleXYZ={0.1,0.,0.}; RGB ={1,0,0}; };
};
};
AnySeg &FL4L5Ref= Main.BodyModel.Trunk.Seg.L4L5Seg;
FL4L5Ref = {
AnyRefNode FL4L5 = {sRel = {-0.0500000, 0.000000 , 0.000000};
AnyDrawRefFrame DrwGlobalRef = {ScaleXYZ={0.1,0.,0.}; RGB ={1,0,0}; };
};
};
AnyForce3D FThorax1 = {
AnyRefNode &LoadNode = .ThoraxRef.FThorax1;
F = {t*1,0,0}; //Global force vector
};
AnyForce3D FThorax2 = {
AnyRefNode &LoadNode = .ThoraxRef.FThorax2;
F = {t*1,0,0}; //Global force vector
};
AnyForce3D FThorax3 = {
AnyRefNode &LoadNode = .ThoraxRef.FThorax3;
F = {t*1,0,0}; //Global force vector
};
AnyForce3D FTL4L5 = {
AnyRefNode &LoadNode = .FL4L5Ref.FL4L5;
F = {t*1,0,0}; //Global force vector
};
AnyForce3D FTL2L3 = {
AnyRefNode &LoadNode = .FL2L3Ref.FL2L3;
F = {t*1,0,0}; //Global force vector
};
};
//---------------------------------------------------------
// Loading ElbowLoad
//---------------------------------------------------------
AnyFolder ElbowLoad= {
AnySeg &UlnaRef= Main.BodyModel.Right.ShoulderArm.Seg.Ulna;
UlnaRef = {
AnyRefNode UlnaLoad = {
sRel = {0.000000, 0.000000 , 0.000000};
AnyDrawRefFrame DrwGlobalRef = {
ScaleXYZ={0.1,0.,0.};
RGB ={1,0,0};
};
};
};
AnyForce3D ElbowF = {
AnyRefNode &LoadNode = .UlnaRef.UlnaLoad;
F = {0,t*1,0}; //Global force vector
};
};
AnyBodyStudy CalibrationStudy = {
AnyFolder &Drv =.Drv;
AnyFolder &Model = .BodyModel;
RecruitmentSolver = MinMaxSimplex;
tEnd = 1.0;
Gravity = {0.0, -9.81, 0.0};
UsabilityExponent = 0.00;
nStep=2;
KinematicRelax=0.05;
}; // End of study
AnyBodyStudy MainStudy = {
AnyFolder &Drv =.Drv;
AnyFolder &Model = .BodyModel;
RecruitmentSolver = MinMaxSimplex;
tEnd = 1.0;
Gravity = {0.0, -9.81, 0.0};
UsabilityExponent = 0.00;
nStep=10;
KinematicRelax=0.05;
}; // End of study
AnyBodyStudy BackLoadStudy = {
AnyFolder &Drv =.Drv;
AnyFolder &Model = .BodyModel;
AnyFolder &Load =.BackLoad;
RecruitmentSolver = MinMaxSimplex;
tEnd = 20.0;
Gravity = {0.0, -9.81, 0.0};
UsabilityExponent = 0.00;
nStep=10;
KinematicRelax=0.05;
}; // End of study
AnyBodyStudy ElbowStudy = {
AnyFolder &Drv =.Drv;
AnyFolder &Model = .BodyModel;
AnyFolder &Load =.ElbowLoad;
RecruitmentSolver = MinMaxSimplex;
tEnd = 10.0;
Gravity = {0.0, -9.81, 0.0};
UsabilityExponent = 0.00;
nStep=10;
KinematicRelax=0.05;
}; // End of study
}; //Main
Datasets
Models
