diff --git a/Motion_Capture_Movement/lesson1.md b/Motion_Capture_Movement/lesson1.md index f68de017..e5df7e16 100644 --- a/Motion_Capture_Movement/lesson1.md +++ b/Motion_Capture_Movement/lesson1.md @@ -27,8 +27,8 @@ for data processing. :::{note} Make sure you have installed your own copy of the AnyBody Model repository (AMMR). -See the {doc}`AMMR documentation ` for instructions on how -to install it. +See the {doc}`Getting Started Tutorial ` +for instructions on how for instructions on how to install it. ::: 1. Go to the folder {file}`Application/MocapExamples/Plug-in-gait_Simple`. diff --git a/The_mechanical_elements/Downloads/Final.demo.arm2d.zip b/The_mechanical_elements/Downloads/Final.demo.arm2d.zip new file mode 100644 index 00000000..8e9785f6 Binary files /dev/null and b/The_mechanical_elements/Downloads/Final.demo.arm2d.zip differ diff --git a/The_mechanical_elements/Downloads/Measures.any b/The_mechanical_elements/Downloads/Measures.any deleted file mode 100644 index aeb7f5d0..00000000 --- a/The_mechanical_elements/Downloads/Measures.any +++ /dev/null @@ -1,213 +0,0 @@ - // Todo: Write a small description of your model here - -Main = { - - // The actual body model goes in this folder - 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 = { - 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 - - 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 - }; // Segs folder - - AnyFolder Jnts = { - - //--------------------------------- - AnyRevoluteJoint Shoulder = { - Axis = z; - AnyRefNode &GroundNode = ..GlobalRef.Shoulder; - AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; - }; // Shoulder joint - - AnyRevoluteJoint Elbow = { - Axis = z; - AnyRefNode &UpperArmNode = ..Segs.UpperArm.ElbowNode; - AnyRefNode &LowerArmNode = ..Segs.LowerArm.ElbowNode; - }; // Elbow joint - - }; // Jnts folder - - AnyFolder Drivers = { - - //--------------------------------- - AnyKinEqSimpleDriver ShoulderMotion = { - AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; - DriverPos = {-1.7}; - DriverVel = {0.4}; - Reaction.Type = {Off}; - }; // Shoulder driver - - //--------------------------------- - AnyKinEqSimpleDriver ElbowMotion = { - AnyRevoluteJoint &Jnt = ..Jnts.Elbow; - DriverPos = {1.5}; - DriverVel = {0.7}; - Reaction.Type = {Off}; - }; // Elbow driver - }; // Driver folder - - AnyFolder Muscles = { - // Simple muscle model with constant strength = 300 Newton - AnyMuscleModel MusMdl = { - F0 = 300; - }; - - //--------------------------------- - AnyMuscleViaPoint Brachialis = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..Segs.UpperArm.Brachialis; - AnyRefNode &Ins = ..Segs.LowerArm.Brachialis; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint DeltodeusA = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..GlobalRef.DeltodeusA; - AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint DeltodeusB = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..GlobalRef.DeltodeusB; - AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint Brachioradialis = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; - AnyRefNode &Ins = ..Segs.LowerArm.Brachioradialis; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint BicepsShort = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; - AnyRefNode &Ins = ..Segs.LowerArm.Biceps; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint TricepsShort = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; - AnyRefNode &Ins = ..Segs.LowerArm.Triceps; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint BicepsLong = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..GlobalRef.BicepsLong; - AnyRefNode &Ins = ..Segs.LowerArm.Biceps; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint TricepsLong = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..GlobalRef.TricepsLong; - AnyRefNode &Ins = ..Segs.LowerArm.Triceps; - AnyDrawMuscle DrwMus = {}; - }; - - }; // Muscles folder - - - - }; // ArmModel - - // The study: Operations to be performed on the model - AnyBodyStudy ArmModelStudy = { - AnyFolder &Model = .ArmModel; - InverseDynamics.Criterion.Type = MR_MinMaxStrict; - Gravity = {0.0, -9.81, 0.0}; - }; - -}; // Main \ No newline at end of file diff --git a/The_mechanical_elements/Downloads/Measures2.any b/The_mechanical_elements/Downloads/Measures2.any deleted file mode 100644 index 2a3de651..00000000 --- a/The_mechanical_elements/Downloads/Measures2.any +++ /dev/null @@ -1,240 +0,0 @@ - // Todo: Write a small description of your model here - -Main = { - - // The actual body model goes in this folder - 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 = { - 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 - - 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 - }; // Segs folder - - AnyFolder Jnts = { - - //--------------------------------- - AnyRevoluteJoint Shoulder = { - Axis = z; - AnyRefNode &GroundNode = ..GlobalRef.Shoulder; - AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; - }; // Shoulder joint - - AnyRevoluteJoint Elbow = { - Axis = z; - AnyRefNode &UpperArmNode = ..Segs.UpperArm.ElbowNode; - AnyRefNode &LowerArmNode = ..Segs.LowerArm.ElbowNode; - }; // Elbow joint - - }; // Jnts folder - - AnyFolder KinematicMeasures = { - AnyKinLinear WristPos = { - - // These are the nodes that the measure refers to - AnyFixedRefFrame &Ground = Main.ArmModel.GlobalRef; - AnyRefNode &UpperArmNode = Main.ArmModel.Segs.LowerArm.HandNode; - - Ref = 0; - }; - - }; // KinematicMeasures - - AnyFolder Drivers = { - - AnyKinEqSimpleDriver HandMotionXY = { - - // A driver takes any number of measures as input and concatenates - // the elements of the driver vectors in one long vector. In this - // case we wish only to drive one measure, namely the XYZmeasure - // defined above. This means that the driver will work on a vector - // with XYZdriver's three components. - - AnyKinLinear &Jnt = ..KinematicMeasures.WristPos; - - // The default is that the driver works on all the components assembled - // in its vector. However, in most cases we wish to drive just a - // subset of the components.MeasureOrganizer picks them out for us - // and creates a vector that is a subset by simply referring to - // the components in the driver's vector. In this case, the driver's vector - // contains the x, y, and z coordinates of the XYZmeasure, numbered - // 0, 1 and 2 respectively. We want to drive only the y coordinate, - // so we specify MeasureOrganizer as a vector with just one component: - - MeasureOrganizer = {0,1}; - - // These parameters are the initial position, velocity and acceleration - // of the simple driver. Each item has two coordinates because we are - // driving both x and y. - DriverPos = {0.4,-0.5}; - DriverVel = {0.2,0.5}; - DriverAcc = {0.0,0.0}; - Reaction.Type = {Off,Off}; // The muscles must do the work - }; - - }; // Driver folder - - AnyFolder Muscles = { - // Simple muscle model with constant strength = 300 Newton - AnyMuscleModel MusMdl = { - F0 = 300; - }; - - //--------------------------------- - AnyMuscleViaPoint Brachialis = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..Segs.UpperArm.Brachialis; - AnyRefNode &Ins = ..Segs.LowerArm.Brachialis; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint DeltodeusA = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..GlobalRef.DeltodeusA; - AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint DeltodeusB = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..GlobalRef.DeltodeusB; - AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint Brachioradialis = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; - AnyRefNode &Ins = ..Segs.LowerArm.Brachioradialis; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint BicepsShort = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; - AnyRefNode &Ins = ..Segs.LowerArm.Biceps; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint TricepsShort = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; - AnyRefNode &Ins = ..Segs.LowerArm.Triceps; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint BicepsLong = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..GlobalRef.BicepsLong; - AnyRefNode &Ins = ..Segs.LowerArm.Biceps; - AnyDrawMuscle DrwMus = {}; - }; - - //--------------------------------- - AnyMuscleViaPoint TricepsLong = { - AnyMuscleModel &MusMdl = ..Muscles.MusMdl; - AnyRefNode &Org = ..GlobalRef.TricepsLong; - AnyRefNode &Ins = ..Segs.LowerArm.Triceps; - AnyDrawMuscle DrwMus = {}; - }; - - }; // Muscles folder - - - - }; // ArmModel - - // The study: Operations to be performed on the model - AnyBodyStudy ArmModelStudy = { - AnyFolder &Model = .ArmModel; - InverseDynamics.Criterion.Type = MR_MinMaxStrict; - Gravity = {0.0, -9.81, 0.0}; - }; - -}; // Main \ No newline at end of file diff --git a/The_mechanical_elements/Downloads/demo.arm2d.zip b/The_mechanical_elements/Downloads/demo.arm2d.zip new file mode 100644 index 00000000..a83186fb Binary files /dev/null and b/The_mechanical_elements/Downloads/demo.arm2d.zip differ diff --git a/The_mechanical_elements/Downloads/mocap.any b/The_mechanical_elements/Downloads/mocap.any deleted file mode 100644 index 33ca6b47..00000000 --- a/The_mechanical_elements/Downloads/mocap.any +++ /dev/null @@ -1,39 +0,0 @@ -// Model for the mocap tutorial - -Main = { - - // The actual body model goes in this folder - AnyFolder MyModel = { - - // Global Reference Frame - AnyFixedRefFrame GlobalRef = { - }; // Global reference frame - - AnySeg Pendulum = { - Mass = 1; - Jii = {1, 0.01, 1}/10; - AnyRefNode Origin = { - sRel = {0, 0.5, 0}; - }; - AnyRefNode P1 = { - sRel = {0, -0.5, 0}; - }; - AnyDrawSeg drw = {}; - }; - - AnyRevoluteJoint Joint = { - AnyRefFrame &Ground = .GlobalRef; - AnyRefFrame &Pendulum = .Pendulum.Origin; - }; - - }; // MyModel - - // The study: Operations to be performed on the model - AnyBodyStudy MyStudy = { - AnyFolder &Model = .MyModel; - InverseDynamics.Criterion.Type = MR_MinMaxStrict; - Gravity = {0.0, -9.81, 0.0}; - nStep = 1000; - }; - -}; // Main \ No newline at end of file diff --git a/The_mechanical_elements/Downloads/mocap2.any b/The_mechanical_elements/Downloads/mocap2.any deleted file mode 100644 index 8993282d..00000000 --- a/The_mechanical_elements/Downloads/mocap2.any +++ /dev/null @@ -1,54 +0,0 @@ -// Model for the mocap tutorial - -Main = { - - // The actual body model goes in this folder - AnyFolder MyModel = { - - // Global Reference Frame - AnyFixedRefFrame GlobalRef = { - }; // Global reference frame - - AnySeg Pendulum = { - Mass = 1; - Jii = {1, 0.01, 1}/10; - AnyRefNode Origin = { - sRel = {0, 0.5, 0}; - }; - AnyRefNode P1 = { - sRel = {0, -0.5, 0}; - }; - AnyDrawSeg drw = {}; - }; - - AnyRevoluteJoint Joint = { - AnyRefFrame &Ground = .GlobalRef; - AnyRefFrame &Pendulum = .Pendulum.Origin; - }; - - AnyKinLinear P1Lin = { - //Ref = -1; - AnyRefFrame &LabOrigin = .GlobalRef; - AnyRefFrame &P1 = .Pendulum.P1; - }; - - AnyKinEqInterPolDriver P1Driver = { - Type = Bspline; - BsplineOrder = 4; - FileName = "P1x.txt"; - AnyKinMeasure &Lin = .P1Lin; - MeasureOrganizer = {0}; - Reaction.Type = {Off}; - }; - - }; // MyModel - - // The study: Operations to be performed on the model - AnyBodyStudy MyStudy = { - AnyFolder &Model = .MyModel; - InverseDynamics.Criterion.Type = MR_MinMaxStrict; - Gravity = {0.0, -9.81, 0.0}; - nStep = 1000; - }; - -}; // Main \ No newline at end of file diff --git a/The_mechanical_elements/Downloads/mocap3.any b/The_mechanical_elements/Downloads/mocap3.any deleted file mode 100644 index 6df1ba58..00000000 --- a/The_mechanical_elements/Downloads/mocap3.any +++ /dev/null @@ -1,82 +0,0 @@ -// Model for the mocap tutorial - -Main = { - - // The actual body model goes in this folder - AnyFolder MyModel = { - - // Global Reference Frame - AnyFixedRefFrame GlobalRef = { - }; // Global reference frame - - AnySeg Pendulum = { - Mass = 1; - Jii = {1, 0.01, 1}/10; - AnyRefNode Origin = { - sRel = {0, 0.5, 0}; - }; - AnyRefNode P1 = { - sRel = {0, -0.5, 0}; - }; - AnyDrawSeg drw = {}; - }; - - AnyRevoluteJoint Joint = { - AnyRefFrame &Ground = .GlobalRef; - AnyRefFrame &Pendulum = .Pendulum.Origin; - }; - - AnyKinLinear P1Lin = { - //Ref = -1; - AnyRefFrame &LabOrigin = .GlobalRef; - AnyRefFrame &P1 = .Pendulum.P1; - }; - - AnyKinLinear M1Lin = { - //Ref = -1; - AnyRefFrame &LabOrigin = .GlobalRef; - AnyRefFrame &M1 = .M1; - }; - - AnyKinEqInterPolDriver M1Driver = { - Type = Bspline; - BsplineOrder = 4; - FileName = "P2.txt"; - AnyKinMeasure &Lin = .M1Lin; -// MeasureOrganizer = {0}; - Reaction.Type = {On, On, On}; - }; - - AnyKinEq MarkerBodyConstraint = { - AnyKinLinear lin = { - AnyRefFrame &Marker = ..M1; - AnyRefFrame &Body = ..Pendulum.P1; - Ref = 1; - }; - MeasureOrganizer = {0}; - }; - - AnySeg M1 = { - Mass = 0; - Jii = {0, 0, 0}/10; - }; - - AnyKinEq RotLock = { - AnyKinRotational rot = { - Type = RotAxesAngles; - AnyRefFrame &ground = ..GlobalRef; - AnyRefFrame &Marker = ..M1; - }; - }; - - }; // MyModel - - // The study: Operations to be performed on the model - AnyBodyStudy MyStudy = { - AnyFolder &Model = .MyModel; - InverseDynamics.Criterion.Type = MR_MinMaxStrict; - Gravity = {0.0, -9.81, 0.0}; - nStep = 1000; - }; - -}; // Main \ No newline at end of file diff --git a/The_mechanical_elements/Downloads/p1.txt b/The_mechanical_elements/Downloads/p1.txt deleted file mode 100644 index 7a0e1ca4..00000000 --- a/The_mechanical_elements/Downloads/p1.txt +++ /dev/null @@ -1,1001 +0,0 @@ -Time x y z -0.00000000000 0.84147098599 -0.54030230550 0.00000000000 -0.00100100100 0.84142823805 -0.54036887714 0.00000000000 -0.00200200200 0.84129997953 -0.54056856433 0.00000000000 -0.00300300300 0.84108613608 -0.54090127577 0.00000000000 -0.00400400400 0.84078658373 -0.54136685730 0.00000000000 -0.00500500500 0.84040114917 -0.54196509307 0.00000000000 -0.00600600600 0.83992961007 -0.54269570542 0.00000000000 -0.00700700700 0.83937169543 -0.54355835492 0.00000000000 -0.00800800800 0.83872708599 -0.54455264021 0.00000000000 -0.00900900900 0.83799541478 -0.54567809793 0.00000000000 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b/The_mechanical_elements/_static/lesson5/image2.png differ diff --git a/The_mechanical_elements/lesson1.md b/The_mechanical_elements/lesson1.md index 46a337b6..6e144cc8 100644 --- a/The_mechanical_elements/lesson1.md +++ b/The_mechanical_elements/lesson1.md @@ -19,7 +19,11 @@ elements take part. Segments in AnyBody are basically a set of mass properties as you can see below. -![segments](_static/lesson1/image1.jpeg) +```{image} _static/lesson1/image1.png +:alt: Segments in AnyBody +:align: center +:width: 45% +``` Segments do not have any particular shape associated with them. By default a segment is originated in its Center of Mass (CoM), but it is @@ -48,14 +52,24 @@ Notice that the AnyDrawSeg is just an empty pair of braces signifying that we are using the standard settings. This will produce the following image: -![Potato segment](_static/lesson1/image2.png) +```{image} _static/lesson1/image2.png +:alt: Potato segment +:class: bg-primary +:align: center +:width: 45% +``` The AnyDrawSeg always represents segments as ellipsoids with axis ratios corresponding to the inertia properties. But the AnyDrawSeg class has multiple settings that can be used to control the appearence of the segment: -![Drawobjects](_static/lesson1/image3.png) +```{image} _static/lesson1/image3.png +:alt: Drawobjects +:class: bg-primary +:align: center +:width: 90% +``` Please refer to the reference manual for further explanation. The {doc}`Getting Started with AnyScript <../A_Getting_started_anyscript/intro>` tutorial diff --git a/The_mechanical_elements/lesson2.md b/The_mechanical_elements/lesson2.md index 77e6e2d5..16752a4f 100644 --- a/The_mechanical_elements/lesson2.md +++ b/The_mechanical_elements/lesson2.md @@ -44,7 +44,12 @@ You can read much more about this subject in the tutorial {doc}`A study of Studi AnyBody provides you with a variety of ways you can connect segments by joints. The class tree reveals the following joint class structure: -![Class tree joints](_static/lesson2/image1.png) +```{image} _static/lesson2/image1.png +:alt: Class tree joints +:class: bg-primary +:align: center +:width: 35% +``` The different types are described in detail in the AnyScript Reference manual (Find it in AnyBody->Help). For examples on how to use joints, diff --git a/The_mechanical_elements/lesson4.md b/The_mechanical_elements/lesson4.md index 582d311b..7d869c10 100644 --- a/The_mechanical_elements/lesson4.md +++ b/The_mechanical_elements/lesson4.md @@ -30,7 +30,12 @@ Do you remember the simple arm example of the "{doc}`Getting Started: AnyScript tutorial? That was a 2-D model of an arm where we produced the movement by driving the angles of the shoulder and elbow joints directly. -![Simple arm model](_static/lesson4/image1.png) +```{image} _static/lesson4/image1.png +:alt: Simple arm model +:class: bg-primary +:align: center +:width: 55% +``` But let us imagine that we wanted the hand to reach out and grab something at a specific position. It would probably be difficult to @@ -40,7 +45,8 @@ able to put the hand (actually the wrist since this simple model has no hand) directly at the desired position in space and have the elbow and shoulder joints follow implicitly. This is where the kinematic measures come into play. Let's start off with the model just about where we left -in the "Getting Started with AnyScript" tutorial. Please {download}`click here to download the necessary file (Measures.any) `, +in the "Getting Started with AnyScript" tutorial. Please +{download}`click here to download the necessary files `, and save it in some working directory on your own hard disk. Let us try initially to create a kinematic measure that will allow us to @@ -57,7 +63,7 @@ kinematic measures and joints: // These are the nodes that the measure refers to AnyFixedRefFrame &Ground = Main.ArmModel.GlobalRef; - AnyRefNode &UpperArmNode = Main.ArmModel.Segs.LowerArm.HandNode; + AnyRefNode &UpperArmNode = Main.ArmModel.Segs.ForeArm.HandNode; Ref = 0; }; @@ -75,18 +81,28 @@ So far, we have just added a measure that allows us to track the movement of the hand, but it is still driven by the joint drivers as before. Let's investigate what we have. Load the model and run a KinematicAnalysis or an InverseDynamicAnalysis, and subsequently open a -ChartFX view. +Chart view. Expanding the tree though -Main.ArmModelStudy.Output.Model.KinematicMeasures.WristPos will give you +`Main.ArmModelStudy.Output.Model.KinematicMeasures.WristPos` will give you the options shown to the below. -![Model tree KinematicMeasures](_static/lesson4/image2.png) +```{image} _static/lesson4/image2.png +:alt: Model tree KinematicMeasures +:class: bg-primary +:align: center +:width: 30% +``` -Click Pos, and you will get three graphs tracking the x, y, and z +Click `Pos`, and you will get three graphs tracking the x, y, and z components of the WristPos kinematic measure. -![WristPos.Pos graph](_static/lesson4/image3.png) +```{image} _static/lesson4/image3.png +:alt: WristPos.Pos graph +:class: bg-primary +:align: center +:width: 85% +``` The z component (blue curve) of the measure remains zero throughout the movement because the model is two-dimensional. The top curve (red) is @@ -156,7 +172,8 @@ may be difficult to find in more complex cases. To conclude, the special feature about kinematic measures is that you can drive them. In AnyBody, you can drive anything that you can measure, and this is really a unique facility. If something went wrong for you -along the way, you can {download}`download a commented version of the final result here (Measures2.any) `. +along the way, you can download a commented version of the final result +{download}`here `. -he last lesson in the tutorial on mechanical elements is {doc}`lesson5`. +The last lesson in the tutorial on mechanical elements is {doc}`lesson5`. diff --git a/The_mechanical_elements/lesson5.md b/The_mechanical_elements/lesson5.md index af3f4818..ea84b519 100644 --- a/The_mechanical_elements/lesson5.md +++ b/The_mechanical_elements/lesson5.md @@ -150,7 +150,11 @@ object. For now, let's just reload the object and run the model. You should see a red arrow pointing down from the hand indicating the direction of the force. -![Simple arm model with force](_static/lesson5/image1.png) +```{image} _static/lesson5/image1.png +:alt: Simple arm model with force +:align: center +:width: 45% +``` One of the advantages of defining models in a computer language is that numbers can be replaced by mathematical expressions. So instead of the @@ -222,7 +226,11 @@ show the force now changing direction with the movement of the arm but maintaining its direction perpendicular to the forearm, i.e. in the negative *y* axis of the PalmNode reference system to which it is attached. -![Arm model with force 2](_static/lesson5/image2.png) +```{image} _static/lesson5/image2.png +:alt: Arm model with force 2 +:align: center +:width: 45% +``` ## AnyForce: Internal forces (sort of) diff --git a/Validation_of_models/Kinematic_input.md b/Validation_of_models/Kinematic_input.md index d49623b8..86877840 100644 --- a/Validation_of_models/Kinematic_input.md +++ b/Validation_of_models/Kinematic_input.md @@ -10,12 +10,22 @@ the horizontal position, and the green curve is the vertical position. The lateral position remains zero and is the blue curve. It looks very reasonable, and it does not seem to be infested with significant noise. -![rowpos.gif](_static/Kinematic_input/image1.gif) +```{image} _static/Kinematic_input/image1.gif +:alt: Position of the thorax over time +:class: bg-primary +:align: center +:width: 50% +``` To find velocities, the system automatically differentiates positional data with respect to time and we get the following: -![rowvel.gif](_static/Kinematic_input/image2.gif) +```{image} _static/Kinematic_input/image2.gif +:alt: Velocity of the thorax over time +:class: bg-primary +:align: center +:width: 50% +``` It still looks reasonable except for a suspicion that the maximum velocity around 12 m/s may be a bit high over such a short distance. The @@ -23,7 +33,12 @@ system dfferentiates the velocity function to obtain the accelerations, which subsequently according to the second law of Newton will generate forces: -![rowacc.gif](_static/Kinematic_input/image3.gif) +```{image} _static/Kinematic_input/image3.gif +:alt: Acceleration of the thorax over time +:class: bg-primary +:align: center +:width: 50% +``` This graph still looks nice and smooth, but notice the values: The maximum acceleration is around 300 m/s^2 or 30 g. Notice that this is diff --git a/Validation_of_models/intro.md b/Validation_of_models/intro.md index b411018b..0162dc8c 100644 --- a/Validation_of_models/intro.md +++ b/Validation_of_models/intro.md @@ -139,8 +139,8 @@ wants to make the best of its resources. The user has some amount of control over this criterion, but in its basic form it is a minimum fatigue criterion that distributes the loads as evenly as possible between the muscles taking their individual strengths into account. -Please refer to {doc}`A Study of Studies ` for more detailed -information. +Please refer to the tutorial {doc}`Inverse Dynamics of Muscle Systems ` +for more detailed information. So the system basically presumes that the body has the knowledge and the desire to activate muscles optimally. This is supported by a lot of