How can I make link for both hand?

Main Forum
1

Hello, I'm trying to link box and both hand.

I had added code at environment folder like below, then the box linked with just one hand.

I think that I should make another joint at box to make link another hand.

How can I that?

Thank you!

AnyFolder Segments={

AnySeg box={
  Mass=10;
  Jii={0.02,0.0002,0.02};
  r0={Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r0[0]+0.35,
    Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r0[1]+0.25,
    Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r0[2]-0.25};
  Axes0={Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.Axes0[0],
    Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.Axes0[1],
    Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.Axes0[2]};
  AnyDrawSeg drw={};
  AnyRefNode DrwNode={
    AnyDrawSTL drw={
      FileName="input/box_0.01_0.25.stl";
    };
  };
};

};

AnyFolder Joints={

AnyStdJoint boxjnt={
  AnyRefFrame &Glove = Main.HumanModel.BodyModel.Left.ShoulderArm.Seg.Glove;
  AnyRefFrame &box = Main.EnvironmentModel.Segments.box;
};

};

2

Hi Hyun-Ho Shim,

When you add a box to the model, you introduce 6 degrees of freedom (dof) and with the AnyStdJoint that you make between the left arm and the box, you constrain all the 6dof of the box to the left glove segment. Please note that the AnyStdJoint also introduces 6 reaction forces/moments between the box and the glove segment.

In the end, to answer your question, it really depends on how you want to constrain the box, and the conditions that you want to model. But if you want to introduce a link between the box and the right arm, then you must remove some constrains between the box and the left arm.

Please see the Standing Lift model in the AMMR for some inspiration.

I hope this helps.

Best regards,
Dave

3

Thank you for answer!

As your advice, I should study Standing Lift example.