1 missing contraint

Archive AnyScript Yahoo archive
1

i have my simple 3d motion example again but am missing one
constraint and i don’t see where it could be i am getting the error
11 independent constraints and 12 unknowns, or a tolerance error

i have a revolute joint defined at the base, and a spherical joint
defined between the two segments, any thoughts on what constraint i
am possibly missing?

// 3d joint driven by 3 dimensional data

Main = {

//
AnyFolder MyModel = {

 // Global Reference Frame
 AnyFixedRefFrame GlobalRef = {
   AnyDrawRefFrame DrwGlobalRef = {
     ScaleXYZ = {0.1, 0.1, 0.1};
     RGB = {0,1,0};
   };
         AnyRefNode bla1 = {
     sRel = {0,0,0};
   };



 };  // Global reference frame
 AnyFolder Segs = {
   AnySeg Alpha ={
     r0 = {0, 0, 0};
     Mass = 2;
     Jii = {0.001, 0.001, 0.001};
     AnyDrawSeg drw = {};

     AnyRefNode base = {
       sRel = {0,0,0};
     };

     AnyRefNode end = {
       sRel = {.2,0,0};
     };
     };//alpha
     AnySeg Beta ={
     r0 = {.2, 0, 0};
     Mass = 2;
     Jii = {0.001, 0.001, 0.001};
     AnyDrawSeg drw = {};

     AnyRefNode base = {
       sRel = {0,0,0};
     };

     AnyRefNode end = {
       sRel = {0.2,0,0};
     };
   };//beta

 };//segs
 AnyFolder Jnts = {
   //---------------------------------
   AnyRevoluteJoint jntbla = {
     Axis = z;
     AnyRefNode &basenode = ..GlobalRef.bla1;
     AnyRefNode &uppernode = ..Segs.Alpha.base;
   };//jntbla
   AnySphericalJoint jntbla2 = {
     AnyRefNode &basenode = ..Segs.Alpha.end;
     AnyRefNode &uppernode =..Segs.Beta.base;
   };//jntbla2
 };//Jnts
 AnyFolder Drivers = {

   AnyFolder KinematicMeasures = {
     AnyKinLinear Pos = {
       // These are the nodes that the measure refers to
       AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
       AnyRefNode &LowerArmNode = Main.MyModel.Segs.Alpha.end;
       Ref = 0;


     };//pos
   };//kinematicmeasure
   AnyFolder KinematicMeasures2 = {
     AnyKinLinear Pos = {
       // These are the nodes that the measure refers to
       AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
       AnyRefNode &UpperArmNode = Main.MyModel.Segs.Beta.end;
       Ref = 0;

     };//pos
   };//kinematicmeasure2
   AnyVector Time = { 0,5,10};

   AnyKinEqInterPolDriver Motion = {
     AnyKinLinear &bla=.KinematicMeasures.Pos;

     MeasureOrganizer = {1};
     T = .Time;
     Type = PiecewiseLinear;
     Data = {{0,
         0,
         0
       }} ;

     Reaction.Type = {Off};
   };//motion kineqinterpoldriver
   AnyKinEqInterPolDriver Motion2 = {
     AnyKinLinear &bla2=.KinematicMeasures2.Pos;

     T = .Time;
     Type = PiecewiseLinear;
     Data = {{.4,0,0},{.4,0,0},{.4,0,0}
       } ;

     Reaction.Type = {Off,Off,Off};
   };//motion kineqinterpoldriver
 };  //drivers

}; // MyModel

// The study: Operations to be performed on the model
AnyBodyStudy MyStudy = {
AnyFolder &Model = .MyModel;
RecruitmentSolver = MinMaxSimplex;
Gravity = {0.0, -9.81, 0.0};
tEnd = 10;
//KinematicTol = 0.32;
};

}; // Main

2

Hi Atlas??

It’s hard to see from your code, could you upload your model to the
file share?
From what you describes I can only count 11 DOF, but maybe I
misunderstand in some kind of way?

Best regards
Christian, AnyBody Support

— In anyscript@yahoogroups.com, “atlas242131” <atlas242131@…> wrote:
>
> i have my simple 3d motion example again but am missing one
> constraint and i don’t see where it could be i am getting the error
> 11 independent constraints and 12 unknowns, or a tolerance error
>
> i have a revolute joint defined at the base, and a spherical joint
> defined between the two segments, any thoughts on what constraint i
> am possibly missing?
>
> // 3d joint driven by 3 dimensional data
>
> Main = {
>
> //
> AnyFolder MyModel = {
>
> // Global Reference Frame
> AnyFixedRefFrame GlobalRef = {
> AnyDrawRefFrame DrwGlobalRef = {
> ScaleXYZ = {0.1, 0.1, 0.1};
> RGB = {0,1,0};
> };
> AnyRefNode bla1 = {
> sRel = {0,0,0};
> };
>
>
>
> }; // Global reference frame
> AnyFolder Segs = {
> AnySeg Alpha ={
> r0 = {0, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {.2,0,0};
> };
> };//alpha
> AnySeg Beta ={
> r0 = {.2, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {0.2,0,0};
> };
> };//beta
>
> };//segs
> AnyFolder Jnts = {
> //---------------------------------
> AnyRevoluteJoint jntbla = {
> Axis = z;
> AnyRefNode &basenode = …GlobalRef.bla1;
> AnyRefNode &uppernode = …Segs.Alpha.base;
> };//jntbla
> AnySphericalJoint jntbla2 = {
> AnyRefNode &basenode = …Segs.Alpha.end;
> AnyRefNode &uppernode =…Segs.Beta.base;
> };//jntbla2
> };//Jnts
> AnyFolder Drivers = {
>
> AnyFolder KinematicMeasures = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &LowerArmNode = Main.MyModel.Segs.Alpha.end;
> Ref = 0;
>
>
> };//pos
> };//kinematicmeasure
> AnyFolder KinematicMeasures2 = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &UpperArmNode = Main.MyModel.Segs.Beta.end;
> Ref = 0;
>
> };//pos
> };//kinematicmeasure2
> AnyVector Time = { 0,5,10};
>
> AnyKinEqInterPolDriver Motion = {
> AnyKinLinear &bla=.KinematicMeasures.Pos;
>
> MeasureOrganizer = {1};
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{0,
> 0,
> 0
> }} ;
>
> Reaction.Type = {Off};
> };//motion kineqinterpoldriver
> AnyKinEqInterPolDriver Motion2 = {
> AnyKinLinear &bla2=.KinematicMeasures2.Pos;
>
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{.4,0,0},{.4,0,0},{.4,0,0}
> } ;
>
> Reaction.Type = {Off,Off,Off};
> };//motion kineqinterpoldriver
> }; //drivers
>
>
> }; // MyModel
>
> // The study: Operations to be performed on the model
> AnyBodyStudy MyStudy = {
> AnyFolder &Model = .MyModel;
> RecruitmentSolver = MinMaxSimplex;
> Gravity = {0.0, -9.81, 0.0};
> tEnd = 10;
> //KinematicTol = 0.32;
> };
>
> }; // Main
>

3

Hi Atlas??

It’s hard to see from your code, could you upload your model to the
file share?
From what you describes I can only count 11 DOF, but maybe I
misunderstand in some kind of way?

Best regards
Christian, AnyBody Support

— In anyscript@yahoogroups.com, “atlas242131” <atlas242131@…> wrote:
>
> i have my simple 3d motion example again but am missing one
> constraint and i don’t see where it could be i am getting the error
> 11 independent constraints and 12 unknowns, or a tolerance error
>
> i have a revolute joint defined at the base, and a spherical joint
> defined between the two segments, any thoughts on what constraint i
> am possibly missing?
>
> // 3d joint driven by 3 dimensional data
>
> Main = {
>
> //
> AnyFolder MyModel = {
>
> // Global Reference Frame
> AnyFixedRefFrame GlobalRef = {
> AnyDrawRefFrame DrwGlobalRef = {
> ScaleXYZ = {0.1, 0.1, 0.1};
> RGB = {0,1,0};
> };
> AnyRefNode bla1 = {
> sRel = {0,0,0};
> };
>
>
>
> }; // Global reference frame
> AnyFolder Segs = {
> AnySeg Alpha ={
> r0 = {0, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {.2,0,0};
> };
> };//alpha
> AnySeg Beta ={
> r0 = {.2, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {0.2,0,0};
> };
> };//beta
>
> };//segs
> AnyFolder Jnts = {
> //---------------------------------
> AnyRevoluteJoint jntbla = {
> Axis = z;
> AnyRefNode &basenode = …GlobalRef.bla1;
> AnyRefNode &uppernode = …Segs.Alpha.base;
> };//jntbla
> AnySphericalJoint jntbla2 = {
> AnyRefNode &basenode = …Segs.Alpha.end;
> AnyRefNode &uppernode =…Segs.Beta.base;
> };//jntbla2
> };//Jnts
> AnyFolder Drivers = {
>
> AnyFolder KinematicMeasures = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &LowerArmNode = Main.MyModel.Segs.Alpha.end;
> Ref = 0;
>
>
> };//pos
> };//kinematicmeasure
> AnyFolder KinematicMeasures2 = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &UpperArmNode = Main.MyModel.Segs.Beta.end;
> Ref = 0;
>
> };//pos
> };//kinematicmeasure2
> AnyVector Time = { 0,5,10};
>
> AnyKinEqInterPolDriver Motion = {
> AnyKinLinear &bla=.KinematicMeasures.Pos;
>
> MeasureOrganizer = {1};
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{0,
> 0,
> 0
> }} ;
>
> Reaction.Type = {Off};
> };//motion kineqinterpoldriver
> AnyKinEqInterPolDriver Motion2 = {
> AnyKinLinear &bla2=.KinematicMeasures2.Pos;
>
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{.4,0,0},{.4,0,0},{.4,0,0}
> } ;
>
> Reaction.Type = {Off,Off,Off};
> };//motion kineqinterpoldriver
> }; //drivers
>
>
> }; // MyModel
>
> // The study: Operations to be performed on the model
> AnyBodyStudy MyStudy = {
> AnyFolder &Model = .MyModel;
> RecruitmentSolver = MinMaxSimplex;
> Gravity = {0.0, -9.81, 0.0};
> tEnd = 10;
> //KinematicTol = 0.32;
> };
>
> }; // Main
>

4

Hi Atlas??

It’s hard to see from your code, could you upload your model to the
file share?
From what you describes I can only count 11 DOF, but maybe I
misunderstand in some kind of way?

Best regards
Christian, AnyBody Support

— In anyscript@yahoogroups.com, “atlas242131” <atlas242131@…> wrote:
>
> i have my simple 3d motion example again but am missing one
> constraint and i don’t see where it could be i am getting the error
> 11 independent constraints and 12 unknowns, or a tolerance error
>
> i have a revolute joint defined at the base, and a spherical joint
> defined between the two segments, any thoughts on what constraint i
> am possibly missing?
>
> // 3d joint driven by 3 dimensional data
>
> Main = {
>
> //
> AnyFolder MyModel = {
>
> // Global Reference Frame
> AnyFixedRefFrame GlobalRef = {
> AnyDrawRefFrame DrwGlobalRef = {
> ScaleXYZ = {0.1, 0.1, 0.1};
> RGB = {0,1,0};
> };
> AnyRefNode bla1 = {
> sRel = {0,0,0};
> };
>
>
>
> }; // Global reference frame
> AnyFolder Segs = {
> AnySeg Alpha ={
> r0 = {0, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {.2,0,0};
> };
> };//alpha
> AnySeg Beta ={
> r0 = {.2, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {0.2,0,0};
> };
> };//beta
>
> };//segs
> AnyFolder Jnts = {
> //---------------------------------
> AnyRevoluteJoint jntbla = {
> Axis = z;
> AnyRefNode &basenode = …GlobalRef.bla1;
> AnyRefNode &uppernode = …Segs.Alpha.base;
> };//jntbla
> AnySphericalJoint jntbla2 = {
> AnyRefNode &basenode = …Segs.Alpha.end;
> AnyRefNode &uppernode =…Segs.Beta.base;
> };//jntbla2
> };//Jnts
> AnyFolder Drivers = {
>
> AnyFolder KinematicMeasures = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &LowerArmNode = Main.MyModel.Segs.Alpha.end;
> Ref = 0;
>
>
> };//pos
> };//kinematicmeasure
> AnyFolder KinematicMeasures2 = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &UpperArmNode = Main.MyModel.Segs.Beta.end;
> Ref = 0;
>
> };//pos
> };//kinematicmeasure2
> AnyVector Time = { 0,5,10};
>
> AnyKinEqInterPolDriver Motion = {
> AnyKinLinear &bla=.KinematicMeasures.Pos;
>
> MeasureOrganizer = {1};
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{0,
> 0,
> 0
> }} ;
>
> Reaction.Type = {Off};
> };//motion kineqinterpoldriver
> AnyKinEqInterPolDriver Motion2 = {
> AnyKinLinear &bla2=.KinematicMeasures2.Pos;
>
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{.4,0,0},{.4,0,0},{.4,0,0}
> } ;
>
> Reaction.Type = {Off,Off,Off};
> };//motion kineqinterpoldriver
> }; //drivers
>
>
> }; // MyModel
>
> // The study: Operations to be performed on the model
> AnyBodyStudy MyStudy = {
> AnyFolder &Model = .MyModel;
> RecruitmentSolver = MinMaxSimplex;
> Gravity = {0.0, -9.81, 0.0};
> tEnd = 10;
> //KinematicTol = 0.32;
> };
>
> }; // Main
>

5

Hi Atlas??

It’s hard to see from your code, could you upload your model to the
file share?
From what you describes I can only count 11 DOF, but maybe I
misunderstand in some kind of way?

Best regards
Christian, AnyBody Support

— In anyscript@yahoogroups.com, “atlas242131” <atlas242131@…> wrote:
>
> i have my simple 3d motion example again but am missing one
> constraint and i don’t see where it could be i am getting the error
> 11 independent constraints and 12 unknowns, or a tolerance error
>
> i have a revolute joint defined at the base, and a spherical joint
> defined between the two segments, any thoughts on what constraint i
> am possibly missing?
>
> // 3d joint driven by 3 dimensional data
>
> Main = {
>
> //
> AnyFolder MyModel = {
>
> // Global Reference Frame
> AnyFixedRefFrame GlobalRef = {
> AnyDrawRefFrame DrwGlobalRef = {
> ScaleXYZ = {0.1, 0.1, 0.1};
> RGB = {0,1,0};
> };
> AnyRefNode bla1 = {
> sRel = {0,0,0};
> };
>
>
>
> }; // Global reference frame
> AnyFolder Segs = {
> AnySeg Alpha ={
> r0 = {0, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {.2,0,0};
> };
> };//alpha
> AnySeg Beta ={
> r0 = {.2, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {0.2,0,0};
> };
> };//beta
>
> };//segs
> AnyFolder Jnts = {
> //---------------------------------
> AnyRevoluteJoint jntbla = {
> Axis = z;
> AnyRefNode &basenode = …GlobalRef.bla1;
> AnyRefNode &uppernode = …Segs.Alpha.base;
> };//jntbla
> AnySphericalJoint jntbla2 = {
> AnyRefNode &basenode = …Segs.Alpha.end;
> AnyRefNode &uppernode =…Segs.Beta.base;
> };//jntbla2
> };//Jnts
> AnyFolder Drivers = {
>
> AnyFolder KinematicMeasures = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &LowerArmNode = Main.MyModel.Segs.Alpha.end;
> Ref = 0;
>
>
> };//pos
> };//kinematicmeasure
> AnyFolder KinematicMeasures2 = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &UpperArmNode = Main.MyModel.Segs.Beta.end;
> Ref = 0;
>
> };//pos
> };//kinematicmeasure2
> AnyVector Time = { 0,5,10};
>
> AnyKinEqInterPolDriver Motion = {
> AnyKinLinear &bla=.KinematicMeasures.Pos;
>
> MeasureOrganizer = {1};
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{0,
> 0,
> 0
> }} ;
>
> Reaction.Type = {Off};
> };//motion kineqinterpoldriver
> AnyKinEqInterPolDriver Motion2 = {
> AnyKinLinear &bla2=.KinematicMeasures2.Pos;
>
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{.4,0,0},{.4,0,0},{.4,0,0}
> } ;
>
> Reaction.Type = {Off,Off,Off};
> };//motion kineqinterpoldriver
> }; //drivers
>
>
> }; // MyModel
>
> // The study: Operations to be performed on the model
> AnyBodyStudy MyStudy = {
> AnyFolder &Model = .MyModel;
> RecruitmentSolver = MinMaxSimplex;
> Gravity = {0.0, -9.81, 0.0};
> tEnd = 10;
> //KinematicTol = 0.32;
> };
>
> }; // Main
>

6

Hi Atlas??

It’s hard to see from your code, could you upload your model to the
file share?
From what you describes I can only count 11 DOF, but maybe I
misunderstand in some kind of way?

Best regards
Christian, AnyBody Support

— In anyscript@yahoogroups.com, “atlas242131” <atlas242131@…> wrote:
>
> i have my simple 3d motion example again but am missing one
> constraint and i don’t see where it could be i am getting the error
> 11 independent constraints and 12 unknowns, or a tolerance error
>
> i have a revolute joint defined at the base, and a spherical joint
> defined between the two segments, any thoughts on what constraint i
> am possibly missing?
>
> // 3d joint driven by 3 dimensional data
>
> Main = {
>
> //
> AnyFolder MyModel = {
>
> // Global Reference Frame
> AnyFixedRefFrame GlobalRef = {
> AnyDrawRefFrame DrwGlobalRef = {
> ScaleXYZ = {0.1, 0.1, 0.1};
> RGB = {0,1,0};
> };
> AnyRefNode bla1 = {
> sRel = {0,0,0};
> };
>
>
>
> }; // Global reference frame
> AnyFolder Segs = {
> AnySeg Alpha ={
> r0 = {0, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {.2,0,0};
> };
> };//alpha
> AnySeg Beta ={
> r0 = {.2, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {0.2,0,0};
> };
> };//beta
>
> };//segs
> AnyFolder Jnts = {
> //---------------------------------
> AnyRevoluteJoint jntbla = {
> Axis = z;
> AnyRefNode &basenode = …GlobalRef.bla1;
> AnyRefNode &uppernode = …Segs.Alpha.base;
> };//jntbla
> AnySphericalJoint jntbla2 = {
> AnyRefNode &basenode = …Segs.Alpha.end;
> AnyRefNode &uppernode =…Segs.Beta.base;
> };//jntbla2
> };//Jnts
> AnyFolder Drivers = {
>
> AnyFolder KinematicMeasures = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &LowerArmNode = Main.MyModel.Segs.Alpha.end;
> Ref = 0;
>
>
> };//pos
> };//kinematicmeasure
> AnyFolder KinematicMeasures2 = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &UpperArmNode = Main.MyModel.Segs.Beta.end;
> Ref = 0;
>
> };//pos
> };//kinematicmeasure2
> AnyVector Time = { 0,5,10};
>
> AnyKinEqInterPolDriver Motion = {
> AnyKinLinear &bla=.KinematicMeasures.Pos;
>
> MeasureOrganizer = {1};
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{0,
> 0,
> 0
> }} ;
>
> Reaction.Type = {Off};
> };//motion kineqinterpoldriver
> AnyKinEqInterPolDriver Motion2 = {
> AnyKinLinear &bla2=.KinematicMeasures2.Pos;
>
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{.4,0,0},{.4,0,0},{.4,0,0}
> } ;
>
> Reaction.Type = {Off,Off,Off};
> };//motion kineqinterpoldriver
> }; //drivers
>
>
> }; // MyModel
>
> // The study: Operations to be performed on the model
> AnyBodyStudy MyStudy = {
> AnyFolder &Model = .MyModel;
> RecruitmentSolver = MinMaxSimplex;
> Gravity = {0.0, -9.81, 0.0};
> tEnd = 10;
> //KinematicTol = 0.32;
> };
>
> }; // Main
>

7

Hi Atlas??

It’s hard to see from your code, could you upload your model to the
file share?
From what you describes I can only count 11 DOF, but maybe I
misunderstand in some kind of way?

Best regards
Christian, AnyBody Support

— In anyscript@yahoogroups.com, “atlas242131” <atlas242131@…> wrote:
>
> i have my simple 3d motion example again but am missing one
> constraint and i don’t see where it could be i am getting the error
> 11 independent constraints and 12 unknowns, or a tolerance error
>
> i have a revolute joint defined at the base, and a spherical joint
> defined between the two segments, any thoughts on what constraint i
> am possibly missing?
>
> // 3d joint driven by 3 dimensional data
>
> Main = {
>
> //
> AnyFolder MyModel = {
>
> // Global Reference Frame
> AnyFixedRefFrame GlobalRef = {
> AnyDrawRefFrame DrwGlobalRef = {
> ScaleXYZ = {0.1, 0.1, 0.1};
> RGB = {0,1,0};
> };
> AnyRefNode bla1 = {
> sRel = {0,0,0};
> };
>
>
>
> }; // Global reference frame
> AnyFolder Segs = {
> AnySeg Alpha ={
> r0 = {0, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {.2,0,0};
> };
> };//alpha
> AnySeg Beta ={
> r0 = {.2, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {0.2,0,0};
> };
> };//beta
>
> };//segs
> AnyFolder Jnts = {
> //---------------------------------
> AnyRevoluteJoint jntbla = {
> Axis = z;
> AnyRefNode &basenode = …GlobalRef.bla1;
> AnyRefNode &uppernode = …Segs.Alpha.base;
> };//jntbla
> AnySphericalJoint jntbla2 = {
> AnyRefNode &basenode = …Segs.Alpha.end;
> AnyRefNode &uppernode =…Segs.Beta.base;
> };//jntbla2
> };//Jnts
> AnyFolder Drivers = {
>
> AnyFolder KinematicMeasures = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &LowerArmNode = Main.MyModel.Segs.Alpha.end;
> Ref = 0;
>
>
> };//pos
> };//kinematicmeasure
> AnyFolder KinematicMeasures2 = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &UpperArmNode = Main.MyModel.Segs.Beta.end;
> Ref = 0;
>
> };//pos
> };//kinematicmeasure2
> AnyVector Time = { 0,5,10};
>
> AnyKinEqInterPolDriver Motion = {
> AnyKinLinear &bla=.KinematicMeasures.Pos;
>
> MeasureOrganizer = {1};
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{0,
> 0,
> 0
> }} ;
>
> Reaction.Type = {Off};
> };//motion kineqinterpoldriver
> AnyKinEqInterPolDriver Motion2 = {
> AnyKinLinear &bla2=.KinematicMeasures2.Pos;
>
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{.4,0,0},{.4,0,0},{.4,0,0}
> } ;
>
> Reaction.Type = {Off,Off,Off};
> };//motion kineqinterpoldriver
> }; //drivers
>
>
> }; // MyModel
>
> // The study: Operations to be performed on the model
> AnyBodyStudy MyStudy = {
> AnyFolder &Model = .MyModel;
> RecruitmentSolver = MinMaxSimplex;
> Gravity = {0.0, -9.81, 0.0};
> tEnd = 10;
> //KinematicTol = 0.32;
> };
>
> }; // Main
>

8

Hi, i’ll upload an even simpler version, i will call it simple3dtry.any
i am basically having the same problem, 5 contraints and 6 unknowns,
the only thing i can think of is i am possibly missing a rotational
constraint?

9

Hi, i’ll upload an even simpler version, i will call it simple3dtry.any
i am basically having the same problem, 5 contraints and 6 unknowns,
the only thing i can think of is i am possibly missing a rotational
constraint?

10

Hi, i’ll upload an even simpler version, i will call it simple3dtry.any
i am basically having the same problem, 5 contraints and 6 unknowns,
the only thing i can think of is i am possibly missing a rotational
constraint?

11

Hi, i’ll upload an even simpler version, i will call it simple3dtry.any
i am basically having the same problem, 5 contraints and 6 unknowns,
the only thing i can think of is i am possibly missing a rotational
constraint?

12

Hi Atlas??

It’s hard to see from your code, could you upload your model to the
file share?
From what you describes I can only count 11 DOF, but maybe I
misunderstand in some kind of way?

Best regards
Christian, AnyBody Support

— In anyscript@yahoogroups.com, “atlas242131” <atlas242131@…> wrote:
>
> i have my simple 3d motion example again but am missing one
> constraint and i don’t see where it could be i am getting the error
> 11 independent constraints and 12 unknowns, or a tolerance error
>
> i have a revolute joint defined at the base, and a spherical joint
> defined between the two segments, any thoughts on what constraint i
> am possibly missing?
>
> // 3d joint driven by 3 dimensional data
>
> Main = {
>
> //
> AnyFolder MyModel = {
>
> // Global Reference Frame
> AnyFixedRefFrame GlobalRef = {
> AnyDrawRefFrame DrwGlobalRef = {
> ScaleXYZ = {0.1, 0.1, 0.1};
> RGB = {0,1,0};
> };
> AnyRefNode bla1 = {
> sRel = {0,0,0};
> };
>
>
>
> }; // Global reference frame
> AnyFolder Segs = {
> AnySeg Alpha ={
> r0 = {0, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {.2,0,0};
> };
> };//alpha
> AnySeg Beta ={
> r0 = {.2, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {0.2,0,0};
> };
> };//beta
>
> };//segs
> AnyFolder Jnts = {
> //---------------------------------
> AnyRevoluteJoint jntbla = {
> Axis = z;
> AnyRefNode &basenode = …GlobalRef.bla1;
> AnyRefNode &uppernode = …Segs.Alpha.base;
> };//jntbla
> AnySphericalJoint jntbla2 = {
> AnyRefNode &basenode = …Segs.Alpha.end;
> AnyRefNode &uppernode =…Segs.Beta.base;
> };//jntbla2
> };//Jnts
> AnyFolder Drivers = {
>
> AnyFolder KinematicMeasures = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &LowerArmNode = Main.MyModel.Segs.Alpha.end;
> Ref = 0;
>
>
> };//pos
> };//kinematicmeasure
> AnyFolder KinematicMeasures2 = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &UpperArmNode = Main.MyModel.Segs.Beta.end;
> Ref = 0;
>
> };//pos
> };//kinematicmeasure2
> AnyVector Time = { 0,5,10};
>
> AnyKinEqInterPolDriver Motion = {
> AnyKinLinear &bla=.KinematicMeasures.Pos;
>
> MeasureOrganizer = {1};
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{0,
> 0,
> 0
> }} ;
>
> Reaction.Type = {Off};
> };//motion kineqinterpoldriver
> AnyKinEqInterPolDriver Motion2 = {
> AnyKinLinear &bla2=.KinematicMeasures2.Pos;
>
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{.4,0,0},{.4,0,0},{.4,0,0}
> } ;
>
> Reaction.Type = {Off,Off,Off};
> };//motion kineqinterpoldriver
> }; //drivers
>
>
> }; // MyModel
>
> // The study: Operations to be performed on the model
> AnyBodyStudy MyStudy = {
> AnyFolder &Model = .MyModel;
> RecruitmentSolver = MinMaxSimplex;
> Gravity = {0.0, -9.81, 0.0};
> tEnd = 10;
> //KinematicTol = 0.32;
> };
>
> }; // Main
>

13

Hi, i’ll upload an even simpler version, i will call it simple3dtry.any
i am basically having the same problem, 5 contraints and 6 unknowns,
the only thing i can think of is i am possibly missing a rotational
constraint?

14

Hi, i’ll upload an even simpler version, i will call it simple3dtry.any
i am basically having the same problem, 5 contraints and 6 unknowns,
the only thing i can think of is i am possibly missing a rotational
constraint?

15

Hi, i’ll upload an even simpler version, i will call it simple3dtry.any
i am basically having the same problem, 5 contraints and 6 unknowns,
the only thing i can think of is i am possibly missing a rotational
constraint?

16

Hi Atlas??

It’s hard to see from your code, could you upload your model to the
file share?
From what you describes I can only count 11 DOF, but maybe I
misunderstand in some kind of way?

Best regards
Christian, AnyBody Support

— In anyscript@yahoogroups.com, “atlas242131” <atlas242131@…> wrote:
>
> i have my simple 3d motion example again but am missing one
> constraint and i don’t see where it could be i am getting the error
> 11 independent constraints and 12 unknowns, or a tolerance error
>
> i have a revolute joint defined at the base, and a spherical joint
> defined between the two segments, any thoughts on what constraint i
> am possibly missing?
>
> // 3d joint driven by 3 dimensional data
>
> Main = {
>
> //
> AnyFolder MyModel = {
>
> // Global Reference Frame
> AnyFixedRefFrame GlobalRef = {
> AnyDrawRefFrame DrwGlobalRef = {
> ScaleXYZ = {0.1, 0.1, 0.1};
> RGB = {0,1,0};
> };
> AnyRefNode bla1 = {
> sRel = {0,0,0};
> };
>
>
>
> }; // Global reference frame
> AnyFolder Segs = {
> AnySeg Alpha ={
> r0 = {0, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {.2,0,0};
> };
> };//alpha
> AnySeg Beta ={
> r0 = {.2, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {0.2,0,0};
> };
> };//beta
>
> };//segs
> AnyFolder Jnts = {
> //---------------------------------
> AnyRevoluteJoint jntbla = {
> Axis = z;
> AnyRefNode &basenode = …GlobalRef.bla1;
> AnyRefNode &uppernode = …Segs.Alpha.base;
> };//jntbla
> AnySphericalJoint jntbla2 = {
> AnyRefNode &basenode = …Segs.Alpha.end;
> AnyRefNode &uppernode =…Segs.Beta.base;
> };//jntbla2
> };//Jnts
> AnyFolder Drivers = {
>
> AnyFolder KinematicMeasures = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &LowerArmNode = Main.MyModel.Segs.Alpha.end;
> Ref = 0;
>
>
> };//pos
> };//kinematicmeasure
> AnyFolder KinematicMeasures2 = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &UpperArmNode = Main.MyModel.Segs.Beta.end;
> Ref = 0;
>
> };//pos
> };//kinematicmeasure2
> AnyVector Time = { 0,5,10};
>
> AnyKinEqInterPolDriver Motion = {
> AnyKinLinear &bla=.KinematicMeasures.Pos;
>
> MeasureOrganizer = {1};
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{0,
> 0,
> 0
> }} ;
>
> Reaction.Type = {Off};
> };//motion kineqinterpoldriver
> AnyKinEqInterPolDriver Motion2 = {
> AnyKinLinear &bla2=.KinematicMeasures2.Pos;
>
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{.4,0,0},{.4,0,0},{.4,0,0}
> } ;
>
> Reaction.Type = {Off,Off,Off};
> };//motion kineqinterpoldriver
> }; //drivers
>
>
> }; // MyModel
>
> // The study: Operations to be performed on the model
> AnyBodyStudy MyStudy = {
> AnyFolder &Model = .MyModel;
> RecruitmentSolver = MinMaxSimplex;
> Gravity = {0.0, -9.81, 0.0};
> tEnd = 10;
> //KinematicTol = 0.32;
> };
>
> }; // Main
>

17

Hi Atlas??

It’s hard to see from your code, could you upload your model to the
file share?
From what you describes I can only count 11 DOF, but maybe I
misunderstand in some kind of way?

Best regards
Christian, AnyBody Support

— In anyscript@yahoogroups.com, “atlas242131” <atlas242131@…> wrote:
>
> i have my simple 3d motion example again but am missing one
> constraint and i don’t see where it could be i am getting the error
> 11 independent constraints and 12 unknowns, or a tolerance error
>
> i have a revolute joint defined at the base, and a spherical joint
> defined between the two segments, any thoughts on what constraint i
> am possibly missing?
>
> // 3d joint driven by 3 dimensional data
>
> Main = {
>
> //
> AnyFolder MyModel = {
>
> // Global Reference Frame
> AnyFixedRefFrame GlobalRef = {
> AnyDrawRefFrame DrwGlobalRef = {
> ScaleXYZ = {0.1, 0.1, 0.1};
> RGB = {0,1,0};
> };
> AnyRefNode bla1 = {
> sRel = {0,0,0};
> };
>
>
>
> }; // Global reference frame
> AnyFolder Segs = {
> AnySeg Alpha ={
> r0 = {0, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {.2,0,0};
> };
> };//alpha
> AnySeg Beta ={
> r0 = {.2, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.001, 0.001};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {0,0,0};
> };
>
> AnyRefNode end = {
> sRel = {0.2,0,0};
> };
> };//beta
>
> };//segs
> AnyFolder Jnts = {
> //---------------------------------
> AnyRevoluteJoint jntbla = {
> Axis = z;
> AnyRefNode &basenode = …GlobalRef.bla1;
> AnyRefNode &uppernode = …Segs.Alpha.base;
> };//jntbla
> AnySphericalJoint jntbla2 = {
> AnyRefNode &basenode = …Segs.Alpha.end;
> AnyRefNode &uppernode =…Segs.Beta.base;
> };//jntbla2
> };//Jnts
> AnyFolder Drivers = {
>
> AnyFolder KinematicMeasures = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &LowerArmNode = Main.MyModel.Segs.Alpha.end;
> Ref = 0;
>
>
> };//pos
> };//kinematicmeasure
> AnyFolder KinematicMeasures2 = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &UpperArmNode = Main.MyModel.Segs.Beta.end;
> Ref = 0;
>
> };//pos
> };//kinematicmeasure2
> AnyVector Time = { 0,5,10};
>
> AnyKinEqInterPolDriver Motion = {
> AnyKinLinear &bla=.KinematicMeasures.Pos;
>
> MeasureOrganizer = {1};
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{0,
> 0,
> 0
> }} ;
>
> Reaction.Type = {Off};
> };//motion kineqinterpoldriver
> AnyKinEqInterPolDriver Motion2 = {
> AnyKinLinear &bla2=.KinematicMeasures2.Pos;
>
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{.4,0,0},{.4,0,0},{.4,0,0}
> } ;
>
> Reaction.Type = {Off,Off,Off};
> };//motion kineqinterpoldriver
> }; //drivers
>
>
> }; // MyModel
>
> // The study: Operations to be performed on the model
> AnyBodyStudy MyStudy = {
> AnyFolder &Model = .MyModel;
> RecruitmentSolver = MinMaxSimplex;
> Gravity = {0.0, -9.81, 0.0};
> tEnd = 10;
> //KinematicTol = 0.32;
> };
>
> }; // Main
>

18

Hi Atlas

Yes the AnySphericalJoint is a so called ball and socket joint. So yes
I think you do need an extra node to constrin the rotational degree of
freedom.
Hope this helps you.

Best regards
Christian, AnyBody Support

— In anyscript@yahoogroups.com, “atlas242131” <atlas242131@…> wrote:
>
> Hi, i’ll upload an even simpler version, i will call it simple3dtry.any
> i am basically having the same problem, 5 contraints and 6 unknowns,
> the only thing i can think of is i am possibly missing a rotational
> constraint?
>

19

I added another node right in the middle and .1 off the z axis and
added a driver for its postion, now I have 2 extra constraints for
some reason, if anyone can glance at why this doesn’t work I would
appreciate it, its pretty much as simple as it gets,
i’ll paste the code below and also upload the file under folder
simple 3dtry2

// Todo: Write a small description of your model here

Main = {

// The actual body model goes in this folder
AnyFolder MyModel = {

 // Global Reference Frame
 AnyFixedRefFrame GlobalRef = {
   AnyDrawRefFrame DrwGlobalRef = {
     ScaleXYZ = {0.1, 0.1, 0.1};
     RGB = {0,1,0};
   };
   AnyRefNode bla1 = {
     sRel = {0,0,0};
   };



 };  // Global reference frame
 AnyFolder Segs = {
   AnySeg Alpha ={
     r0 = {.2, 0, 0};
     Mass = 2;
     Jii = {0.001, 0.01, 0.01};
     AnyDrawSeg drw = {};

     AnyRefNode base = {
       sRel = {-.2,0,0};
     };
     AnyRefNode middle = {
       sRel = {0,0,0.1};
     };
     AnyRefNode end = {
       sRel = {.2,0,0};
     };
   };//alpha

 };//segs
 AnyFolder Jnts = {
   //---------------------------------
   AnySphericalJoint jntbla = {
     //Axis = z;
     AnyRefNode &basenode = ..GlobalRef.bla1;
     AnyRefNode &uppernode = ..Segs.Alpha.base;
   };//jntbla

 };//Jnts
 AnyFolder Drivers = {

   AnyFolder KinematicMeasures = {
     AnyKinLinear Pos = {
       // These are the nodes that the measure refers to
       AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
       AnyRefNode &UpperArmNode = Main.MyModel.Segs.Alpha.end;
       Ref = 0;


     };//pos
   };//kinematicmeasure
   AnyFolder KinematicMeasures2 = {
     AnyKinLinear Pos = {
       // These are the nodes that the measure refers to
       AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
       AnyRefNode &UpperArmNode = Main.MyModel.Segs.Alpha.middle;
       Ref = 0;


     };//pos
   };//kinematicmeasure

   AnyVector Time = { 0,5,10};

   AnyKinEqInterPolDriver Motion = {
     AnyKinLinear &bla=.KinematicMeasures.Pos;

     //MeasureOrganizer = {1};
     T = .Time;
     Type = PiecewiseLinear;
     Data = {{0.4, 0, 0},{0.4,0,0},{0.4,0,0}
     };
     Reaction.Type = {Off,Off,Off};
   };//motion kineqinterpoldriver
   AnyKinEqInterPolDriver Motion2 = {
     AnyKinLinear &bla=.KinematicMeasures2.Pos;


     T = .Time;
     Type = PiecewiseLinear;
     Data = {{0.2, 0, 0.1},{0.2,0,0.1},{0.2,0,0.1}
     };
     Reaction.Type = {Off,Off,Off};
   };//motion kineqinterpoldriver
 };  //drivers

}; // MyModel

AnyBodyStudy MyStudy = {
AnyFolder &Model = .MyModel;
RecruitmentSolver = MinMaxSimplex;
Gravity = {0.0, -9.81, 0.0};
tEnd = 10;
//KinematicTol = .1;
};

}; // Main

20

Hi Atlas

I have looked at your model and it is not preferable to drive your
joint with two AnyKinLinear en global coordinates. If you change the
one in the middle to be driven in local coordinates and therefore only
handle the rotation in the spherical joint and then drive the joint by
rotation in the joint then it should work. Hope it helps.

Best regards
Christian, AnyBody Support

— In anyscript@yahoogroups.com, “atlas242131” <atlas242131@…> wrote:
>
> I added another node right in the middle and .1 off the z axis and
> added a driver for its postion, now I have 2 extra constraints for
> some reason, if anyone can glance at why this doesn’t work I would
> appreciate it, its pretty much as simple as it gets,
> i’ll paste the code below and also upload the file under folder
> simple 3dtry2
>
> // Todo: Write a small description of your model here
>
> Main = {
>
> // The actual body model goes in this folder
> AnyFolder MyModel = {
>
> // Global Reference Frame
> AnyFixedRefFrame GlobalRef = {
> AnyDrawRefFrame DrwGlobalRef = {
> ScaleXYZ = {0.1, 0.1, 0.1};
> RGB = {0,1,0};
> };
> AnyRefNode bla1 = {
> sRel = {0,0,0};
> };
>
>
>
> }; // Global reference frame
> AnyFolder Segs = {
> AnySeg Alpha ={
> r0 = {.2, 0, 0};
> Mass = 2;
> Jii = {0.001, 0.01, 0.01};
> AnyDrawSeg drw = {};
>
> AnyRefNode base = {
> sRel = {-.2,0,0};
> };
> AnyRefNode middle = {
> sRel = {0,0,0.1};
> };
> AnyRefNode end = {
> sRel = {.2,0,0};
> };
> };//alpha
>
> };//segs
> AnyFolder Jnts = {
> //---------------------------------
> AnySphericalJoint jntbla = {
> //Axis = z;
> AnyRefNode &basenode = …GlobalRef.bla1;
> AnyRefNode &uppernode = …Segs.Alpha.base;
> };//jntbla
>
> };//Jnts
> AnyFolder Drivers = {
>
> AnyFolder KinematicMeasures = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &UpperArmNode = Main.MyModel.Segs.Alpha.end;
> Ref = 0;
>
>
> };//pos
> };//kinematicmeasure
> AnyFolder KinematicMeasures2 = {
> AnyKinLinear Pos = {
> // These are the nodes that the measure refers to
> AnyRefNode &Ground = Main.MyModel.GlobalRef.bla1;
> AnyRefNode &UpperArmNode = Main.MyModel.Segs.Alpha.middle;
> Ref = 0;
>
>
> };//pos
> };//kinematicmeasure
>
> AnyVector Time = { 0,5,10};
>
> AnyKinEqInterPolDriver Motion = {
> AnyKinLinear &bla=.KinematicMeasures.Pos;
>
> //MeasureOrganizer = {1};
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{0.4, 0, 0},{0.4,0,0},{0.4,0,0}
> };
> Reaction.Type = {Off,Off,Off};
> };//motion kineqinterpoldriver
> AnyKinEqInterPolDriver Motion2 = {
> AnyKinLinear &bla=.KinematicMeasures2.Pos;
>
>
> T = .Time;
> Type = PiecewiseLinear;
> Data = {{0.2, 0, 0.1},{0.2,0,0.1},{0.2,0,0.1}
> };
> Reaction.Type = {Off,Off,Off};
> };//motion kineqinterpoldriver
> }; //drivers
>
>
> }; // MyModel
>
>
> AnyBodyStudy MyStudy = {
> AnyFolder &Model = .MyModel;
> RecruitmentSolver = MinMaxSimplex;
> Gravity = {0.0, -9.81, 0.0};
> tEnd = 10;
> //KinematicTol = .1;
> };
>
> }; // Main
>