Hi, soren.
I’ve been doing some changes on the scripts of my simulation but it still doesn’t works. You pointed me on your last e-mail that the object was not defined, but the reference is defined, or at least I think that it is. I send you the script for you to hepl me finding errors.
Please, excuse my insistence and my ignorance, but I’m just beginning with it. thanks a lot!
script:
// Todo: Write a small description of your model here
Main = {
//----------------------------------------------------------------------MyModel
//----------------------------------------------------------------------
AnyFolder ArmModel = {
//--------------------------------------------------------------Global Reference Frame
AnyFixedRefFrame GlobalRef = {
AnyDrawRefFrame DrwGlobalRef = {
ScaleXYZ = {1,1,1}/10;
};
AnyRefNode Shoulder = {
sRel = {0,0,0};
};
AnyRefNode DeltodeusA = {
sRel = {0.05,0,0};
};
AnyRefNode DeltodeusB = {
sRel = {-0.05,0,0};
};
AnyRefNode BicepsLong = {
sRel = {0.1,0,0};
};
AnyRefNode TricepsLong = {
sRel = {-0.1,0,0};
};
}; // Global reference frame
//---------------------------------------------------------------Segments
AnyFolder Segs = {
//-------------------------------------upperarm
AnySeg UpperArm = {
r0 = {0,-0.15,0};
Axes0 = {{0,1,0},{-1,0,0},{0,0,1}};
Mass = 2.0;
Jii = {0.005,0.01,0.01};
AnyDrawSeg DrwSeg = {};
AnyRefNode ShoulderNode = {
sRel = {-0.2,0,0};
};
AnyRefNode ElbowNode = {
sRel = {0.2,0,0};
};
AnyRefNode DeltodeusA = {
sRel = {-0.1,0,0.02};
};
AnyRefNode DeltodeusB = {
sRel = {-0.1,0,-0.02};
};
AnyRefNode Brachialis = {
sRel = {0.1,0,0.01};
};
AnyRefNode BicepsShort = {
sRel = {-0.1,0,0.03};
};
AnyRefNode Brachioradialis = {
sRel = {0.05,0,0.02};
};
AnyRefNode TricepsShort = {
sRel = {-0.1,0,-0.01};
};
}; // UpperArm
//-------------------------------------lowerarm
AnySeg LowerArm = {
r0 = {0.25,-0.3,0};
Mass = 2.0;
Jii = {0.005,0.01,0.01};
AnyRefNode ElbowNode = {
sRel = {-0.2,0,0};
};
AnyRefNode HandNode = {
sRel = {0.2,0,0};
};
AnyRefNode Brachialis = {
sRel = {-0.1,0,0.02};
};
AnyRefNode Brachioradialis = {
sRel = {0.0,0,0.02};
};
AnyRefNode Biceps = {
sRel = {-0.15,0,0.01};
};
AnyRefNode Triceps = {
sRel = {-0.25,0,-0.05};
};
AnyDrawSeg DrwSeg = {};
}; // LowerArm
//--------------------------------------hand
AnySeg Hand = {
//r0 = {0, 0, 0};
//rDot0 = {0, 0, 0};
//Axes0 = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
//omega0 = {0, 0, 0};
Mass = 1;
Jii = {0.005,0.01,0.01};
//Jij = {0, 0, 0};
//sCoM = {0, 0, 0};
//JaboutCoMOnOff = Off;
AnyRefNode HandNode = {
sRel = {0.2, 0, 0};
};
AnyDrawSeg DrwSeg = {};
}; //Hand
}; // Segs folder
//----------------------------------------------------------------Joints
AnyFolder Jnts = {
AnySphericalJoint Shoulder = {
AnyRefFrame &GroundNode = …GlobalRef.Shoulder;
AnyRefFrame &UpperArmNode = …Segs.UpperArm.ShoulderNode;
}; //shoulder joint
AnySphericalJoint Elbow = {
AnyRefFrame &UpperArmNode = …Segs.UpperArm.ElbowNode;
AnyRefFrame &LowerArmNode = …Segs.LowerArm.ElbowNode;
};//elbow joint
AnySphericalJoint Wrist = {
AnyRefFrame &LowerArmNode = …Segs.LowerArm.HandNode;
AnyRefFrame &HandNode = …Segs.Hand.HandNode;
};//wrist joint
}; // Jnts folder
//---------------------------------------------------------------drivers
AnyFolder Drivers = {
AnyKinLinear ElbowLin = {
//Ref = -1;
AnyRefFrame &ElbowOrigin = ..Segs.UpperArm.ElbowNode;
};
AnyKinEqInterPolDriver RightElbowDriver = {
//MeasureOrganizer = ;
Type = Bspline;
BsplineOrder = 4;
//T = ;
//Data = ;
FileName = "right elbow front.txt";
AnyKinMeasure &Lin = .ElbowLin;
Reaction.Type = {Off, Off, Off};
};
AnyKinLinear WristLin = {
//Ref = -1;
AnyRefFrame &WristOrigin = ..Jnts.Wrist;
};
AnyKinEqInterPolDriver RightWristDriver = {
//MeasureOrganizer = ;
Type = Bspline;
BsplineOrder = 4;
//T = ;
//Data = ;
FileName = "right wrist front.txt";
AnyKinMeasure &Lin = .WristLin;
Reaction.Type = {Off, Off, Off};
};
AnyKinLinear HandLin = {
//Ref = -1;
AnyRefFrame &HandOrigin = ..Segs.Hand.HandNode;
};
AnyKinEqInterPolDriver RightHandDriver = {
//MeasureOrganizer = ;
Type = Bspline;
BsplineOrder = 4;
//T = ;
//Data = ;
FileName = "right hand front.txt";
AnyKinMeasure &Lin = .HandLin;
Reaction.Type = {Off, Off, Off};
};
}; // Driver folder
//--------------------------------------------------------------------muscles
AnyFolder Muscles = {
// Simple muscle model with constant strength = 300 Newton
AnyMuscleModel MusMdl = {
F0 = 300;
};
//---------------------------------
AnyViaPointMuscle Brachialis = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..Segs.UpperArm.Brachialis;
AnyRefNode &Ins = ..Segs.LowerArm.Brachialis;
AnyDrawMuscle DrwMus = {};
};
//---------------------------------
AnyViaPointMuscle DeltodeusA = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..GlobalRef.DeltodeusA;
AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA;
AnyDrawMuscle DrwMus = {};
};
//---------------------------------
AnyViaPointMuscle DeltodeusB = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..GlobalRef.DeltodeusB;
AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB;
AnyDrawMuscle DrwMus = {};
};
//---------------------------------
AnyViaPointMuscle Brachioradialis = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis;
AnyRefNode &Ins = ..Segs.LowerArm.Brachioradialis;
AnyDrawMuscle DrwMus = {};
};
//---------------------------------
AnyViaPointMuscle BicepsShort = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..Segs.UpperArm.BicepsShort;
AnyRefNode &Ins = ..Segs.LowerArm.Biceps;
AnyDrawMuscle DrwMus = {};
};
//---------------------------------
AnyViaPointMuscle TricepsShort = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..Segs.UpperArm.TricepsShort;
AnyRefNode &Ins = ..Segs.LowerArm.Triceps;
AnyDrawMuscle DrwMus = {};
};
//---------------------------------
AnyViaPointMuscle BicepsLong = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..GlobalRef.BicepsLong;
AnyRefNode &Ins = ..Segs.LowerArm.Biceps;
AnyDrawMuscle DrwMus = {};
};
//---------------------------------
AnyViaPointMuscle TricepsLong = {
AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
AnyRefNode &Org = ..GlobalRef.TricepsLong;
AnyRefNode &Ins = ..Segs.LowerArm.Triceps;
AnyDrawMuscle DrwMus = {};
};
}; // Muscles folder
}; // ArmModel
//-----------------------------------------------------------------MyStudy
//-----------------------------------------------------------------
AnyBodyStudy ArmModelStudy = {
AnyFolder &Model = .ArmModel;
RecruitmentSolver = MinMaxSimplex;
Gravity = {0.0, -9.81, 0.0};
};
}; // Main