diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index c0b5dec4..360f1a5f 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -85,6 +85,7 @@ jobs: ref: ammr4-beta path: ammr4 + - name: Link AMMR shell: cmd run: | diff --git a/AnyExp4SOLIDWORKS/Downloads/FitnessMachine_Mate_Config1.zip b/AnyExp4SOLIDWORKS/Downloads/FitnessMachine_Mate_Config1.zip index 527e487a..2023d145 100644 Binary files a/AnyExp4SOLIDWORKS/Downloads/FitnessMachine_Mate_Config1.zip and b/AnyExp4SOLIDWORKS/Downloads/FitnessMachine_Mate_Config1.zip differ diff --git a/AnyExp4SOLIDWORKS/Downloads/FitnessMachine_Mate_Config3.zip b/AnyExp4SOLIDWORKS/Downloads/FitnessMachine_Mate_Config3.zip index 91dd9fa3..cfa98638 100644 Binary files a/AnyExp4SOLIDWORKS/Downloads/FitnessMachine_Mate_Config3.zip and b/AnyExp4SOLIDWORKS/Downloads/FitnessMachine_Mate_Config3.zip differ diff --git a/AnyExp4SOLIDWORKS/Downloads/FitnessMachine_With_Human.zip 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date: Mon Jan 20 10:44:46 2025 +// AnyExp4SOLIDWORKS Version: 1.3.1 + + AnyFolder FitnessMachine = + { + #if (ANYBODY_V1 > 7)|(ANYBODY_V1 == 7 & ANYBODY_V2 > 1) + AnyComponentDefinition CompDef = + { + }; + #endif + + AnyKinEqType _ANY_CTYPE_ = Hard; + + AnyFolder _ANY_INTERFACE_ = + { + ////LIST OF USER-DEFINED REFERENCE COORDINATE SYSTEMS + //AnyRefFrame& Pedal___1____ANY_TOE1 = .Pedal___1.ANY_TOE1; + //AnyRefFrame& Pedal___1____ANY_CENTER = .Pedal___1.ANY_CENTER; + //AnyRefFrame& Pedal___1____ANY_TOE2 = .Pedal___1.ANY_TOE2; + //AnyRefFrame& ANY_LEFT_HAND1 = .Handle___1.ANY_LEFT_HAND1; + //AnyRefFrame& ANY_LEFT_HAND2 = .Handle___1.ANY_LEFT_HAND2; + //AnyRefFrame& ANY_PELVIS = .MainBase___1.ANY_PELVIS; + //AnyRefFrame& ANY_RIGHT_HAND1 = .Handle___2.ANY_RIGHT_HAND1; + //AnyRefFrame& ANY_RIGHT_HAND2 = .Handle___2.ANY_RIGHT_HAND2; + //AnyRefFrame& Pedal___2____ANY_TOE1 = .Pedal___2.ANY_TOE1; + //AnyRefFrame& Pedal___2____ANY_CENTER = .Pedal___2.ANY_CENTER; + //AnyRefFrame& Pedal___2____ANY_TOE2 = .Pedal___2.ANY_TOE2; + ////LIST OF USER-DEFINED REFERENCE COORDINATE SYSTEMS + }; + + AnyFixedRefFrame Origin = + { + Origin = {0, 0, 0}; + Axes={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyRefNode FitnessMachine_Fix_MainBase = + { + sRel={-2.775557562e-17, 2.220446049e-16, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.2466038452, 0.2466038452, 0.2466038452}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.06600000825, 0.06600000825, 0.06600000825}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.2466038452, 0.2466038452, 0.2466038452}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.2466038452, 0.2466038452, 0.2466038452}; + Visible = Off; + }; + }; + }; + + AnyRefNode& FitnessMachine_Fix_MainBase = Origin.FitnessMachine_Fix_MainBase; + AnyRefNode& Front__Plane = Origin.Front__Plane; + AnyRefNode& Origin_Ref = Origin.Origin_Ref; + AnyRefNode& Right__Plane = Origin.Right__Plane; + AnyRefNode& Top__Plane = Origin.Top__Plane; + AnySeg BeamType1___1 = + { + r0 = {-0.6853687895, 0.4351357746, -0.2100845596}; + Axes0={ {0.9983441109, 0.05752422338, 2.480588096e-18}, {-0.05752422338, 0.9983441109, -4.288451253e-18}, {-2.723170345e-18, 4.13865615e-18, 1} }; + Mass = 0.9662831853; + Jii = {0.0001628634509, 0.117482102, 0.1175755527}; + Jij = {2.532104071e-19, 4.612930849e-21, -7.490795228e-05}; + sCoM = {-0.003901455848, -7.029213812e-18, 0.0001300485283}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType1_cfg1_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.6, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.6, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Middle_Left = + { + sRel={-0.6, -2.220446049e-16, 0.01}; + ARel={ {0, -1, 7.559547177e-17}, {-1, 6.553459563e-35, 8.669116562e-19}, {-8.669116562e-19, -7.559547177e-17, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Middle_Left = + { + sRel={0.6, 0, 0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.1211321592, 0.1211321592, 0.1211321592}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.01211321592, 0.01211321592, 0.01211321592}; + Visible = On; + }; + }; + AnyRefNode Point1 = + { + sRel={0.6, -6.938893904e-18, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={0.6, -6.938893904e-18, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.1211321592, 0.1211321592, 0.1211321592}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.1211321592, 0.1211321592, 0.1211321592}; + Visible = Off; + }; + }; + }; + AnySeg BeamType1___2 = + { + r0 = {-0.7023201226, 0.5833917851, 0.2099154404}; + Axes0={ {0.9811374094, -0.1933116238, -1.425893077e-16}, {0.1933116238, 0.9811374094, -2.583740633e-16}, {1.898464137e-16, 2.259362885e-16, 1} }; + Mass = 0.9662831853; + Jii = {0.0001628634509, 0.117482102, 0.1175755527}; + Jij = {1.449643539e-19, 1.812963311e-21, 7.490795228e-05}; + sCoM = {-0.003901455848, -6.844633446e-18, -0.0001300485283}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType1_cfg2_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.6, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.6, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Middle_Right = + { + sRel={-0.6, -4.440892099e-16, -0.01}; + ARel={ {0, -1, 1.593356882e-16}, {1, 1.038434683e-32, 6.517276167e-17}, {-6.517276167e-17, 1.593356882e-16, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Middle_Right = + { + sRel={0.6, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.1211321592, 0.1211321592, 0.1211321592}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.01211321592, 0.01211321592, 0.01211321592}; + Visible = On; + }; + }; + AnyRefNode Point1 = + { + sRel={0.6, -6.938893904e-18, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={0.6, -6.938893904e-18, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.1211321592, 0.1211321592, 0.1211321592}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.1211321592, 0.1211321592, 0.1211321592}; + Visible = Off; + }; + }; + }; + AnySeg BeamType2___1 = + { + r0 = {-1.284375256, 0.4696503086, -0.1900845596}; + Axes0={ {0.3303564113, 0.943856261, -7.303957437e-17}, {-0.943856261, 0.3303564113, -8.053565954e-19}, {2.336895081e-17, 6.920491429e-17, 1} }; + Mass = 0.5731504441; + Jii = {9.756710924e-05, 0.02549418671, 0.02555354379}; + Jij = {-2.943128597e-36, 4.517509052e-21, -3.782208101e-36}; + sCoM = {9.919946668e-17, 3.415493019e-51, 9.236590454e-20}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType2_cfg2_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0, 1, 0}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.35, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.35, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={-0.2, 0, -0.055}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.11}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={0.15, 0, -0.011}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.022}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Bottom_Left = + { + sRel={0.35, 0, 0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Middle_Left = + { + sRel={0, 0, -0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Back_Left = + { + sRel={-0.35, 4.440892099e-16, -0.01}; + ARel={ {0, -1, 2.336895081e-17}, {1, 1.617246238e-33, 6.920491429e-17}, {-6.920491429e-17, 2.336895081e-17, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.007413501197, 0.007413501197, 0.007413501197}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={-0.2, 0, 0}; + ARel={ {0, 0, -1}, {0, 1, 0}, {1, -0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={0.15, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + }; + AnySeg BeamType2___2 = + { + r0 = {-1.291002568, 0.4674048108, 0.1899154404}; + Axes0={ {0.3114212335, 0.9502719691, 1.14224426e-18}, {-0.9502719691, 0.3114212335, -1.636291881e-16}, {-1.558479499e-16, 4.987216091e-17, 1} }; + Mass = 0.5731504441; + Jii = {9.756710924e-05, 0.02549418671, 0.02555354379}; + Jij = {-2.943128597e-36, 4.517509052e-21, -3.58661569e-36}; + sCoM = {9.55048305e-17, 3.415493019e-51, 9.236590454e-20}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType2_cfg2_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0, 1, 0}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.35, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.35, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={-0.2, 0, -0.055}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.11}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={0.15, 0, -0.011}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.022}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Bottom_Right = + { + sRel={0.35, 0, -0.01}; + ARel={ {0, -1, 4.930380658e-32}, {-1, -3.038581679e-64, -6.162975822e-33}, {6.162975822e-33, -4.930380658e-32, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Middle_Right = + { + sRel={0, 0, 0.01}; + ARel={ {0, -1, -4.930380658e-32}, {1, -3.038581679e-64, 6.162975822e-33}, {-6.162975822e-33, -4.930380658e-32, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Back_Right = + { + sRel={-0.35, 2.220446049e-16, 0.01}; + ARel={ {0, -1, 1.558479499e-16}, {-1, -7.772474036e-33, -4.987216091e-17}, {4.987216091e-17, -1.558479499e-16, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.007413501197, 0.007413501197, 0.007413501197}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={-0.2, 0, 0}; + ARel={ {0, 0, -1}, {0, 1, 0}, {1, -0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={0.15, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + }; + AnySeg BeamType2___3 = + { + r0 = {-0.484375256, 0.4696503086, -0.1900845596}; + Axes0={ {0.3303564113, 0.943856261, 1.132795161e-18}, {-0.943856261, 0.3303564113, 2.69076983e-17}, {2.502277336e-17, -9.958326452e-18, 1} }; + Mass = 0.5731504441; + Jii = {9.756710924e-05, 0.02524010411, 0.02529946119}; + Jij = {-3.429628199e-36, 4.517509052e-21, -1.32348898e-21}; + sCoM = {0.002192508223, 5.233389586e-36, 0}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType2_cfg1_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0, 1, 0}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.35, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.35, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={-0.2, 0, -0.055}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.11}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={0.15, 0, -0.011}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.022}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Small_Left = + { + sRel={-0.2, 0, 0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Front_Left = + { + sRel={-0.35, 2.220446049e-16, -0.01}; + ARel={ {-0, -1, 2.502277336e-17}, {1, -2.491849459e-34, -9.958326452e-18}, {9.958326452e-18, 2.502277336e-17, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Bottom_Left = + { + sRel={0.35, 0, -0.03828427125}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.007413501197, 0.007413501197, 0.007413501197}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={-0.2, 0, 0}; + ARel={ {0, 0, -1}, {0, 1, 0}, {1, -0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={0.15, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={-0.35, 0, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.002, 0.002, 0.002}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={-0.35, 0, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.002, 0.002, 0.002}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + }; + AnySeg BeamType2___4 = + { + r0 = {-0.4910025683, 0.4674048108, 0.1899154404}; + Axes0={ {0.3114212335, 0.9502719691, 7.548966052e-17}, {-0.9502719691, 0.3114212335, -5.743206282e-17}, {-7.808516263e-17, -5.38501445e-17, 1} }; + Mass = 0.5731504441; + Jii = {9.756710924e-05, 0.02524010411, 0.02529946119}; + Jij = {-3.429628199e-36, 4.517509052e-21, -1.240770919e-21}; + sCoM = {0.002192508223, 5.233389586e-36, 0}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType2_cfg1_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0, 1, 0}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.35, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.35, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={-0.2, 0, -0.055}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.11}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={0.15, 0, -0.011}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.022}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Small_Right = + { + sRel={-0.2, 0, -0.01}; + ARel={ {0, -1, -1.232595164e-32}, {-1, -0, 0}, {-0, 1.232595164e-32, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Front_Right = + { + sRel={-0.35, 0, 0.01}; + ARel={ {0, -1, 7.808516263e-17}, {-1, 4.204897291e-33, 5.38501445e-17}, {-5.38501445e-17, -7.808516263e-17, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Bottom_Right = + { + sRel={0.35, 0, -0.03828427125}; + ARel={ {0, -1, 1.232595164e-32}, {1, 0, 0}, {0, 1.232595164e-32, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.007413501197, 0.007413501197, 0.007413501197}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={-0.2, 0, 0}; + ARel={ {0, 0, -1}, {0, 1, 0}, {1, -0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={0.15, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={-0.35, 0, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.002, 0.002, 0.002}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={-0.35, 0, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.002, 0.002, 0.002}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + }; + AnySeg BeamType3___1 = + { + r0 = {-0.7687505121, 0.1393006173, -0.1700845596}; + Axes0={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + Mass = 0.6462831853; + Jii = {0.0001095220258, 0.03515305802, 0.03521451682}; + Jij = {-2.835998176e-20, 6.753246728e-21, 4.977679987e-05}; + sCoM = {-0.00388881249, 3.652344093e-18, -0.0001944406245}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType3_cfg1_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {1, 1, 0}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.4, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.4, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Fix_Pedal_Left = + { + sRel={-0.4, 0, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Bottom_Left = + { + sRel={-0.4, 0, -0.01}; + ARel={ {-0, -1, -7.303957437e-17}, {1, 5.882290294e-35, -8.053565954e-19}, {8.053565954e-19, -7.303957437e-17, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Bottom_Left = + { + sRel={0.4, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = Off; + }; + }; + AnyRefNode JNT_NODE1 = + { + sRel={-0.4, 3.469446952e-18, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = On; + }; + }; + AnyRefNode JNT_NODE2 = + { + sRel={-0.4, 3.469446952e-18, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = On; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.00811972906, 0.00811972906, 0.00811972906}; + Visible = On; + }; + }; + AnyRefNode Point1 = + { + sRel={0.4, 3.469446952e-18, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={0.4, 3.469446952e-18, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = Off; + }; + }; + }; + AnySeg BeamType3___2 = + { + r0 = {-0.7820051365, 0.1348096216, 0.1699154404}; + Axes0={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + Mass = 0.6462831853; + Jii = {0.0001095220258, 0.03515305802, 0.03521451682}; + Jij = {-5.494741291e-20, 3.077335711e-21, -4.977679987e-05}; + sCoM = {-0.00388881249, 3.81617184e-18, 0.0001944406245}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType3_cfg2_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {1, 1, 0}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.4, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.4, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Fix_Pedal_Right = + { + sRel={-0.4, 0, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Bottom_Right = + { + sRel={-0.4, 2.775557562e-17, 0.01}; + ARel={ {0, -1, -1.14224426e-18}, {-1, -1.86904501e-34, 1.636291881e-16}, {-1.636291881e-16, 1.14224426e-18, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Bottom_Right = + { + sRel={0.4, 0, 0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = Off; + }; + }; + AnyRefNode JNT_NODE1 = + { + sRel={-0.4, 3.469446952e-18, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = On; + }; + }; + AnyRefNode JNT_NODE2 = + { + sRel={-0.4, 3.469446952e-18, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = On; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.00811972906, 0.00811972906, 0.00811972906}; + Visible = On; + }; + }; + AnyRefNode Point1 = + { + sRel={0.4, 3.469446952e-18, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={0.4, 3.469446952e-18, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = Off; + }; + }; + }; + AnySeg BeamType4___1 = + { + r0 = {-0.6502553184, 0.6646027748, -0.1700845596}; + Axes0={ {0.9980878015, 0.06181213953, -1.330782598e-16}, {-0.06181213953, 0.9980878015, 6.349897864e-17}, {1.367487954e-16, -5.515170402e-17, 1} }; + Mass = 0.1662831853; + Jii = {2.945149322e-05, 0.0006019091785, 0.0006154385113}; + Jij = {8.505341402e-21, 1.719269858e-21, -1.209153706e-05}; + sCoM = {0.003778605333, 7.364826437e-21, -0.0007557210665}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType4_cfg1_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {1, 0, 1}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.1, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.1, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Small_Left = + { + sRel={0.1, 1.110223025e-16, -0.01}; + ARel={ {-0, -1, 1.362162021e-16}, {1, -3.844761979e-33, -2.82254381e-17}, {2.82254381e-17, 1.362162021e-16, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Small_Left = + { + sRel={-0.1, 0, 0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point1 = + { + sRel={-0.1, 0, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.002220360331, 0.002220360331, 0.002220360331}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={-0.1, 0, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.002220360331, 0.002220360331, 0.002220360331}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = Off; + }; + }; + }; + AnySeg BeamType4___2 = + { + r0 = {-0.6531018924, 0.6635378816, 0.1699154404}; + Axes0={ {0.9981507745, 0.06078676939, -1.623658553e-16}, {-0.06078676939, 0.9981507745, 7.725389591e-17}, {1.667616189e-16, -6.724134023e-17, 1} }; + Mass = 0.1662831853; + Jii = {2.945149322e-05, 0.0006019091785, 0.0006154385113}; + Jij = {7.149543932e-22, 2.1118151e-23, 1.209153706e-05}; + sCoM = {0.003778605333, 7.364826437e-21, 0.0007557210665}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType4_cfg2_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {1, 0, 1}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.1, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.1, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Small_Right = + { + sRel={0.1, -2.220446049e-16, 0.01}; + ARel={ {0, -1, -2.456027916e-16}, {-1, -2.946703627e-32, 1.199784256e-16}, {-1.199784256e-16, 2.456027916e-16, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Small_Right = + { + sRel={-0.1, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point1 = + { + sRel={-0.1, 0, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.002220360331, 0.002220360331, 0.002220360331}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={-0.1, 0, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.002220360331, 0.002220360331, 0.002220360331}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = Off; + }; + }; + }; + AnySeg Handle___1 = + { + r0 = {-0.7500640986, 0.6707839888, -0.1200845596}; + Axes0={ {-8.153200337e-17, 0.9269599719, 0.3751602465}, {5.204170428e-17, 0.3751602465, -0.9269599719}, {-1, -5.605292495e-17, -7.882814322e-17} }; + Mass = 1.681637469; + Jii = {0.2236012824, 0.2047761639, 0.01918214946}; + Jij = {1.189199903e-07, -0.0479881227, -2.36125147e-07}; + sCoM = {-3.844279998e-07, 0.06605491078, -0.203434406}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.Handle_cfg1_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode ANY_LEFT_HAND1 = + { + sRel={0.02, 0.2121320344, -0.6121320344}; + ARel={ {0, 1, -0}, {1, 0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode ANY_LEFT_HAND2 = + { + sRel={0.02, 0.2828427125, -0.6828427125}; + ARel={ {0, 1, -0}, {1, 0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode Axis1 = + { + sRel={-0.022, 0, 0}; + ARel={ {0, 0, 1}, {0, -1, 0}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={0.022, 0, 0.4}; + ARel={ {0, -0, -1}, {0, -1, 0}, {-1, -0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={-0.022, 0, -0.4}; + ARel={ {0, 0, 1}, {0, -1, 0}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={0, 0.2918895488, -0.6918895488}; + ARel={ {-0, -1, 0}, {0.7071067812, -0, -0.7071067812}, {0.7071067812, 0, 0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.4089812798}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={0, 0, -0.4}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.8}; + Visible = Off; + }; + }; + AnyRefNode Axis6 = + { + sRel={-0.022, 0, 0.3}; + ARel={ {0, 0, 1}, {0, -1, 0}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_Handle_Left = + { + sRel={-0.02, 5.551115123e-17, 0.4}; + ARel={ {-7.882814322e-17, 5.605292495e-17, 1}, {0, -1, 5.605292495e-17}, {1, 4.418547995e-33, 7.882814322e-17} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Small_Left = + { + sRel={-0.02, 0, 0}; + ARel={ {-2.465190329e-32, -1.232595164e-32, 1}, {0, -1, -1.232595164e-32}, {1, -3.038581679e-64, 2.465190329e-32} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode LeftHand_Point1 = + { + sRel={0.02, 0.2121320344, -0.6121320344}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode LeftHand_Point2 = + { + sRel={0.02, 0.2828427125, -0.6828427125}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.01231061576, 0.01231061576, 0.01231061576}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={-0.02, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={0.02, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane3 = + { + sRel={0, 0.2, -0.2}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane4 = + { + sRel={0, 0.4121320344, -0.4121320344}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane5 = + { + sRel={0, 0.4828427125, -0.4828427125}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane6 = + { + sRel={0, 0, 0.3}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane7 = + { + sRel={0, 0.4828427125, -0.4828427125}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={-2.69618961e-18, -1.932468104e-34, -0.4}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={-2.69618961e-18, 0.2121320344, -0.6121320344}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point3 = + { + sRel={-2.69618961e-18, 0.2828427125, -0.6828427125}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode RightHand_Point1 = + { + sRel={-0.02, 0.2121320344, -0.6121320344}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode RightHand_Point2 = + { + sRel={-0.02, 0.2828427125, -0.6828427125}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + }; + AnySeg Handle___2 = + { + r0 = {-0.7529169699, 0.6696165585, 0.1199154404}; + Axes0={ {3.473607284e-18, 0.9240413963, 0.3822924247}, {3.467108001e-18, 0.3822924247, -0.9240413963}, {-1, 4.535206049e-18, -1.875817567e-18} }; + Mass = 1.681637469; + Jii = {0.2236012824, 0.2047761639, 0.01918214946}; + Jij = {1.189199903e-07, -0.0479881227, -2.36125147e-07}; + sCoM = {-3.844279998e-07, 0.06605491078, -0.203434406}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.Handle_cfg2_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode ANY_RIGHT_HAND1 = + { + sRel={-0.02, 0.2121320344, -0.6121320344}; + ARel={ {0, -1, -0}, {-1, 0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode ANY_RIGHT_HAND2 = + { + sRel={-0.02, 0.2828427125, -0.6828427125}; + ARel={ {0, -1, -0}, {-1, 0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode Axis1 = + { + sRel={-0.022, 0, 0}; + ARel={ {0, 0, 1}, {0, -1, 0}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={0.022, 0, 0.4}; + ARel={ {0, -0, -1}, {0, -1, 0}, {-1, -0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={-0.022, 0, -0.4}; + ARel={ {0, 0, 1}, {0, -1, 0}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={0, 0.2918895488, -0.6918895488}; + ARel={ {-0, -1, 0}, {0.7071067812, -0, -0.7071067812}, {0.7071067812, 0, 0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.4089812798}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={0, 0, -0.4}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.8}; + Visible = Off; + }; + }; + AnyRefNode Axis6 = + { + sRel={-0.022, 0, 0.3}; + ARel={ {0, 0, 1}, {0, -1, 0}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_Handle_Right = + { + sRel={0.02, 1.110223025e-16, 0.4}; + ARel={ {1.875817567e-18, -4.535206049e-18, -1}, {0, -1, 4.535206049e-18}, {-1, -8.507219176e-36, -1.875817567e-18} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Small_Right = + { + sRel={-0.02, 0, 0}; + ARel={ {-3.851859889e-34, 7.703719778e-34, 1}, {0, -1, 7.703719778e-34}, {1, 2.967364921e-67, 3.851859889e-34} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode LeftHand_Point1 = + { + sRel={0.02, 0.2121320344, -0.6121320344}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode LeftHand_Point2 = + { + sRel={0.02, 0.2828427125, -0.6828427125}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.01231061576, 0.01231061576, 0.01231061576}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={-0.02, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={0.02, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane3 = + { + sRel={0, 0.2, -0.2}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane4 = + { + sRel={0, 0.4121320344, -0.4121320344}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane5 = + { + sRel={0, 0.4828427125, -0.4828427125}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane6 = + { + sRel={0, 0, 0.3}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane7 = + { + sRel={0, 0.4828427125, -0.4828427125}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={-2.69618961e-18, -1.932468104e-34, -0.4}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={-2.69618961e-18, 0.2121320344, -0.6121320344}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point3 = + { + sRel={-2.69618961e-18, 0.2828427125, -0.6828427125}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode RightHand_Point1 = + { + sRel={-0.02, 0.2121320344, -0.6121320344}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode RightHand_Point2 = + { + sRel={-0.02, 0.2828427125, -0.6828427125}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + }; + AnySeg MainBase___1 = + { + r0 = {-0.1, 0.55, -8.455958313e-05}; + Axes0={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + Mass = 73.1179928; + Jii = {6.221732725, 13.35441288, 17.11071671}; + Jij = {0.5751545834, -0.0006960674174, -0.0005824144636}; + sCoM = {-0.189906896, -0.04988090848, 1.942340762e-05}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.MainBase_cfg0_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode ANY_PELVIS = + { + sRel={-1.15, 0.25, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = On; + }; + }; + AnyRefNode Axis1 = + { + sRel={-1.3, 0.25, -0.3300000275}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.660000055}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.5, 0.25, -0.2456702105}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.4968505622}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={-0.5, -0.25, -0.11}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.22}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={-1.15, -0.1675, 0}; + ARel={ {0, -1, 0}, {0, 0, 1}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.385}; + Visible = Off; + }; + }; + AnyRefNode CoordSys1 = + { + sRel={-0.35, -0.35, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Fix_MainBase = + { + sRel={0.1, -0.55, 8.455958313e-05}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_Handle_Left = + { + sRel={-0.5, -0.25, -0.1}; + ARel={ {0, -1, 0}, {-1, -0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_Handle_Right = + { + sRel={-0.5, -0.25, 0.1}; + ARel={ {0, -1, -0}, {1, 0, 0}, {-0, -0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_MainCylinder = + { + sRel={0, 0, 5.551115123e-17}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Back_Left = + { + sRel={-1.3, 0.25, -0.2}; + ARel={ {-0, -1, -0}, {1, 0, -0}, {0, -0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Back_Right = + { + sRel={-1.3, 0.25, 0.2}; + ARel={ {0, -1, -0}, {-1, 0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Front_Left = + { + sRel={-0.5, 0.25, -0.2}; + ARel={ {-0, -1, -0}, {1, 0, -0}, {0, -0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Front_Right = + { + sRel={-0.5, 0.25, 0.2}; + ARel={ {0, -1, -0}, {-1, 0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FIXATION_NODE = + { + sRel={0.1, -0.55, 8.455958313e-05}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.0600000075, 0.0600000075, 0.0600000075}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={0, 0.25, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane10 = + { + sRel={0, 0.5, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={-1.3, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane3 = + { + sRel={-0.5, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane4 = + { + sRel={-0, -0.25, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane5 = + { + sRel={-1.15, -9.119689131e-17, 0}; + ARel={ {0, -7.930164462e-17, -1}, {0, 1, -7.930164462e-17}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane6 = + { + sRel={0, 0, 0.2}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane7 = + { + sRel={0, 0, -0.2}; + ARel={ {-1, 0, 0}, {0, 1, 0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane8 = + { + sRel={-0, -0, 0.25}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane9 = + { + sRel={0, 0, -0.25}; + ARel={ {-1, 0, 0}, {0, 1, 0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={-0.35, -0.35, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.0198131273, 0.0198131273, 0.0198131273}; + Visible = Off; + }; + }; + AnyRefNode Point2 = + { + sRel={0, 0.25, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.0198131273, 0.0198131273, 0.0198131273}; + Visible = Off; + }; + }; + AnyRefNode Point3 = + { + sRel={-1.15, 0.25, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.0198131273, 0.0198131273, 0.0198131273}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode RotationAxis = + { + sRel={0, 0, -0.1011588671}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.22}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + }; + AnySeg MainCylinder___1 = + { + r0 = {-0.1, 0.55, -8.455958313e-05}; + Axes0={ {0.9958583961, -0.09091784676, -5.876354115e-28}, {0.09091784676, 0.9958583961, -2.311853653e-28}, {6.06220534e-28, 1.768013408e-28, 1} }; + Mass = 59.69026042; + Jii = {1.404553716, 1.386882257, 1.859430152}; + Jij = {1.445602897e-18, 0.02061670179, 7.228014483e-19}; + sCoM = {2.807374494e-18, 1.135237731e-19, 0}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.MainCylinder_cfg0_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0, 1, 1}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0, 0.15, 0.03325136861}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.4021864843}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={0, -0.15, 0.2034520868}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.4030478761}; + Visible = Off; + }; + }; + AnyRefNode Center_Point = + { + sRel={3.533949646e-17, -2.415585131e-33, -0.15}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.008124038405, 0.008124038405, 0.008124038405}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_MainCylinder = + { + sRel={-2.775557562e-17, 0, 5.070000409e-17}; + ARel={ {0, -1, 6.06220534e-28}, {1, 1.071806032e-55, 1.768013408e-28}, {-1.768013408e-28, 6.06220534e-28, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Middle_Left = + { + sRel={1.387778781e-17, -0.15, -0.3414213562}; + ARel={ {-0, -1, -3.587324069e-43}, {1, 6.434446987e-86, -1.793662034e-43}, {1.793662034e-43, -3.587324069e-43, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Middle_Right = + { + sRel={6.938893904e-18, 0.15, 0.3414213562}; + ARel={ {0, -1, 3.587324069e-43}, {-1, 6.434446987e-86, 1.793662034e-43}, {-1.793662034e-43, -3.587324069e-43, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + AnyRefNode OffsetPlane1 = + { + sRel={0, 0, 0.2}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + AnyRefNode OffsetPlane2 = + { + sRel={0, 0, -0.2}; + ARel={ {-1, 0, 0}, {0, 1, 0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.04, 0.04, 0.04}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={0, 0.15, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={-0, -0.15, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + AnyRefNode RotationAxis = + { + sRel={0, 0, -0.15327099}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.3}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + }; + AnySeg Pedal___1 = + { + r0 = {-1.168750512, 0.1393006173, -0.1000845596}; + Axes0={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + Mass = 2.379398224; + Jii = {0.003169974655, 0.05161298372, 0.04907240264}; + Jij = {-5.020558514e-20, 8.720515957e-20, 1.447353819e-35}; + sCoM = {5.334118853e-18, 0.0001344877864, 7.119724129e-19}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.Pedal_cfg0_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.5882352941, 0.5607843137, 1}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode ANY_CENTER = + { + sRel={2.891205793e-17, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode ANY_TOE1 = + { + sRel={0.25, 0.02, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode ANY_TOE2 = + { + sRel={0.18, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode Axis1 = + { + sRel={0.25, 0, -0.06}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.12}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.25, 0, 0.06}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.12}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Fix_Pedal_Left = + { + sRel={0, 0, -0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode JNT_NODE1 = + { + sRel={4.33680869e-17, -3.469446952e-18, 0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode JNT_NODE2 = + { + sRel={4.33680869e-17, -3.469446952e-18, -0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.005157518783, 0.005157518783, 0.005157518783}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={0.18, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={2.891205793e-17, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point2 = + { + sRel={4.33680869e-17, -3.469446952e-18, 0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point3 = + { + sRel={4.33680869e-17, -3.469446952e-18, -0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point4 = + { + sRel={0.18, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + }; + AnySeg Pedal___2 = + { + r0 = {-1.182005137, 0.1348096216, 0.09991544042}; + Axes0={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + Mass = 2.379398224; + Jii = {0.003169974655, 0.05161298372, 0.04907240264}; + Jij = {-1.031451443e-19, 8.718483656e-20, 0}; + sCoM = {5.334118853e-18, 0.0001344877864, 0}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.Pedal_cfg0_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.5882352941, 0.5607843137, 1}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode ANY_CENTER = + { + sRel={2.891205793e-17, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode ANY_TOE1 = + { + sRel={0.25, 0.02, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode ANY_TOE2 = + { + sRel={0.18, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode Axis1 = + { + sRel={0.25, 0, -0.06}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.12}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.25, 0, 0.06}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.12}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Fix_Pedal_Right = + { + sRel={0, 0, 0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode JNT_NODE1 = + { + sRel={4.33680869e-17, -3.469446952e-18, 0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode JNT_NODE2 = + { + sRel={4.33680869e-17, -3.469446952e-18, -0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.005157518783, 0.005157518783, 0.005157518783}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={0.18, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={2.891205793e-17, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point2 = + { + sRel={4.33680869e-17, -3.469446952e-18, 0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point3 = + { + sRel={4.33680869e-17, -3.469446952e-18, -0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point4 = + { + sRel={0.18, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + }; + + AnyFolder Mates = + { + #if (ANYBODY_V1 > 7)|(ANYBODY_V1 == 7 & ANYBODY_V2 > 1) + AnyComponentDefinition CompDef = + { + }; + #endif + + AnyKinEq Fix_MainBase = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...MainBase___1.FitnessMachine_Fix_MainBase; + AnyRefFrame& target = ....FitnessMachine.FitnessMachine_Fix_MainBase; + Ref = 0; + }; + AnyKinRotational rot = + { + AnyRefFrame& base = ...MainBase___1.FitnessMachine_Fix_MainBase; + AnyRefFrame& target = ....FitnessMachine.FitnessMachine_Fix_MainBase; + Type = PlanarAngles; + }; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyKinEq Fix_Pedal_Left = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...BeamType3___1.FitnessMachine_Fix_Pedal_Left; + AnyRefFrame& target = ...Pedal___1.FitnessMachine_Fix_Pedal_Left; + Ref = 0; + }; + AnyKinRotational rot = + { + AnyRefFrame& base = ...BeamType3___1.FitnessMachine_Fix_Pedal_Left; + AnyRefFrame& target = ...Pedal___1.FitnessMachine_Fix_Pedal_Left; + Type = PlanarAngles; + }; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyKinEq Fix_Pedal_Right = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...BeamType3___2.FitnessMachine_Fix_Pedal_Right; + AnyRefFrame& target = ...Pedal___2.FitnessMachine_Fix_Pedal_Right; + Ref = 0; + }; + AnyKinRotational rot = + { + AnyRefFrame& base = ...BeamType3___2.FitnessMachine_Fix_Pedal_Right; + AnyRefFrame& target = ...Pedal___2.FitnessMachine_Fix_Pedal_Right; + Type = PlanarAngles; + }; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_H_Beam_Bottom_Left = + { + AnyRefFrame& base = ..BeamType2___1.FitnessMachine_Hinge_H_Beam_Bottom_Left; + AnyRefFrame& target = ..BeamType3___1.FitnessMachine_Hinge_H_Beam_Bottom_Left; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_H_Beam_Bottom_Right = + { + AnyRefFrame& base = ..BeamType2___2.FitnessMachine_Hinge_H_Beam_Bottom_Right; + AnyRefFrame& target = ..BeamType3___2.FitnessMachine_Hinge_H_Beam_Bottom_Right; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_H_Beam_Middle_Left = + { + AnyRefFrame& base = ..BeamType2___1.FitnessMachine_Hinge_H_Beam_Middle_Left; + AnyRefFrame& target = ..BeamType1___1.FitnessMachine_Hinge_H_Beam_Middle_Left; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_H_Beam_Middle_Right = + { + AnyRefFrame& base = ..BeamType2___2.FitnessMachine_Hinge_H_Beam_Middle_Right; + AnyRefFrame& target = ..BeamType1___2.FitnessMachine_Hinge_H_Beam_Middle_Right; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_H_Beam_Small_Left = + { + AnyRefFrame& base = ..BeamType2___3.FitnessMachine_Hinge_H_Beam_Small_Left; + AnyRefFrame& target = ..BeamType4___1.FitnessMachine_Hinge_H_Beam_Small_Left; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_H_Beam_Small_Right = + { + AnyRefFrame& base = ..BeamType2___4.FitnessMachine_Hinge_H_Beam_Small_Right; + AnyRefFrame& target = ..BeamType4___2.FitnessMachine_Hinge_H_Beam_Small_Right; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_Handle_Left = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_Handle_Left; + AnyRefFrame& target = ..Handle___1.FitnessMachine_Hinge_Handle_Left; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_Handle_Right = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_Handle_Right; + AnyRefFrame& target = ..Handle___2.FitnessMachine_Hinge_Handle_Right; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_MainCylinder = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_MainCylinder; + AnyRefFrame& target = ..MainCylinder___1.FitnessMachine_Hinge_MainCylinder; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_V_Beam_Back_Left = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_V_Beam_Back_Left; + AnyRefFrame& target = ..BeamType2___1.FitnessMachine_Hinge_V_Beam_Back_Left; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_V_Beam_Back_Right = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_V_Beam_Back_Right; + AnyRefFrame& target = ..BeamType2___2.FitnessMachine_Hinge_V_Beam_Back_Right; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_V_Beam_Front_Left = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_V_Beam_Front_Left; + AnyRefFrame& target = ..BeamType2___3.FitnessMachine_Hinge_V_Beam_Front_Left; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_V_Beam_Front_Right = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_V_Beam_Front_Right; + AnyRefFrame& target = ..BeamType2___4.FitnessMachine_Hinge_V_Beam_Front_Right; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyKinEqSimpleDriver TransSpherical_H_Beam_Bottom_Left = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...BeamType2___3.FitnessMachine_TransSpherical_H_Beam_Bottom_Left; + AnyRefFrame& target = ...BeamType3___1.FitnessMachine_TransSpherical_H_Beam_Bottom_Left; + Ref = 0; + }; + MeasureOrganizer = {0, 1}; + DriverPos = {0, 0}; + DriverVel = {0, 0}; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_}; + }; + AnyKinEqSimpleDriver TransSpherical_H_Beam_Bottom_Right = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...BeamType2___4.FitnessMachine_TransSpherical_H_Beam_Bottom_Right; + AnyRefFrame& target = ...BeamType3___2.FitnessMachine_TransSpherical_H_Beam_Bottom_Right; + Ref = 0; + }; + MeasureOrganizer = {0, 1}; + DriverPos = {0, 0}; + DriverVel = {0, 0}; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_}; + }; + AnyKinEqSimpleDriver TransSpherical_H_Beam_Middle_Left = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...MainCylinder___1.FitnessMachine_TransSpherical_H_Beam_Middle_Left; + AnyRefFrame& target = ...BeamType1___1.FitnessMachine_TransSpherical_H_Beam_Middle_Left; + Ref = 0; + }; + MeasureOrganizer = {0, 1}; + DriverPos = {0, 0}; + DriverVel = {0, 0}; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_}; + }; + AnyKinEqSimpleDriver TransSpherical_H_Beam_Middle_Right = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...MainCylinder___1.FitnessMachine_TransSpherical_H_Beam_Middle_Right; + AnyRefFrame& target = ...BeamType1___2.FitnessMachine_TransSpherical_H_Beam_Middle_Right; + Ref = 0; + }; + MeasureOrganizer = {0, 1}; + DriverPos = {0, 0}; + DriverVel = {0, 0}; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_}; + }; + AnyKinEqSimpleDriver TransSpherical_H_Beam_Small_Left = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...Handle___1.FitnessMachine_TransSpherical_H_Beam_Small_Left; + AnyRefFrame& target = ...BeamType4___1.FitnessMachine_TransSpherical_H_Beam_Small_Left; + Ref = 0; + }; + MeasureOrganizer = {0, 1}; + DriverPos = {0, 0}; + DriverVel = {0, 0}; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_}; + }; + AnyKinEqSimpleDriver TransSpherical_H_Beam_Small_Right = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...Handle___2.FitnessMachine_TransSpherical_H_Beam_Small_Right; + AnyRefFrame& target = ...BeamType4___2.FitnessMachine_TransSpherical_H_Beam_Small_Right; + Ref = 0; + }; + MeasureOrganizer = {0, 1}; + DriverPos = {0, 0}; + DriverVel = {0, 0}; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_}; + }; + }; + }; diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson2/MyFitnessMachine.main.any b/AnyExp4SOLIDWORKS/Snippets/Lesson2/MyFitnessMachine.main.any new file mode 100644 index 00000000..05204d3c --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson2/MyFitnessMachine.main.any @@ -0,0 +1,37 @@ +/// This AnyScript Main-file is an automatically generated helper file, which will be overwritten during subsequent exports from SolidWorks. +/// The purpose of this Main-file is to enable the user to easily load the exported SolidWorks model in the AnyBody Modeling System. +/// Before making changes to this file, please save it under a different name to avoid losing your work when the SolidWorks model is re-translated. +/// +/// This AnyScript file was automatically generated by the AnyExp4SOLIDWORKS translator add-in. +/// Translation date: Fri Jan 17 12:19:55 2025 +/// AnyExp4SOLIDWORKS Version: 1.3.1 +Main = +{ + #include "Model/FitnessMachine.any" +//# BEGIN SNIPPET 1 +FitnessMachine = +{ + AnyFolder Drivers = + { + AnyKinEqSimpleDriver rot_drv = + { + §AnyKinMeasure& jnt = ..Mates.Hinge_MainCylinder§; + MeasureOrganizer = {0}; + DriverPos = pi/180*{0}; + DriverVel = pi/180*{180}; + }; + }; +}; +//# END SNIPPET 1 + + AnyBodyStudy Study = + { + AnyFolder& Model = .FitnessMachine; + tStart = 0; + tEnd = 1; + nStep = 101; + Gravity = {0, -9.81, 0}; + InitialConditions.SolverType = KinSolOverDeterminate; + Kinematics.SolverType = KinSolOverDeterminate; + }; +}; diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson2/SW2AB.log b/AnyExp4SOLIDWORKS/Snippets/Lesson2/SW2AB.log new file mode 100644 index 00000000..34fd5177 --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson2/SW2AB.log @@ -0,0 +1,157 @@ +WARNING - 10-44-46.000: + Feature 'Default' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Initial_Position_Setting' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Folder2___EndTag___' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Mate_Config1' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident01' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident02' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident03' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident04' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident05' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident06' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident07' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident08' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident09' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident10' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident11' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident12' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident13' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident14' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident15' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident16' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric01' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric02' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric03' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric04' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric05' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric06' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric07' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric08' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric09' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric10' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric11' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric12' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric13' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric14' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric15' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric16' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric17' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric18' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric19' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Folder2___EndTag___' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Mate_Config2' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_MainBase' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_MainCylinder' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_MainCylinder' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_Handle_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_Handle_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_Handle_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_Handle_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_V_Beam_Back_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_V_Beam_Back_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_V_Beam_Front_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_V_Beam_Front_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_V_Beam_Back_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_V_Beam_Back_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_V_Beam_Front_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_V_Beam_Front_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Small_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_H_Beam_Small_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Small_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_H_Beam_Small_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_Pedal_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_Pedal_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Bottom_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_H_Beam_Bottom_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Bottom_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_H_Beam_Bottom_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Bottom_Right_2' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Bottom_Left_2' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Small_Right_2' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Small_Left_2' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Middle_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_H_Beam_Middle_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Middle_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_H_Beam_Middle_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_MainCylinder_2' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_MainCylinder_3' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Folder1___EndTag___' in 'FitnessMachine' will be skipped because it is suppressed! +WarningCount: 77 +ErrorCount: 0 + \ No newline at end of file diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/FitnessMachine_With_Human.main.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/FitnessMachine_With_Human.main.any new file mode 100644 index 00000000..455448dc --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/FitnessMachine_With_Human.main.any @@ -0,0 +1,80 @@ +#include "libdef.any" + +Main = +{ + // BodyModel configuration: + // Specify which limb segments to include, the type of muscles, joints, scaling etc + #include "Model/BodyModelConfiguration.any" + + // Include the Human model from AMMR + #include "\HumanModel.any" + + // Define desired posture or movement of the model + #include "Model\Mannequin.any" + + // Compose the model used by the study + AnyFolder Model = + { + AnyVector CenterOfMassXZ = {0,0}; + + // Definition for CoM(Center of Mass) of Human Model + #include "Model\CoM_View.any" + + // Definition of additional AnyRefNode object in the human model + #include "Model\HumanRefNodes.any" + + // AnyScript file for the fitness machine from SolidWorks + #include "Input\FitnessMachine.any" + + Environment.GlobalRef.RightFootPrint = { + AnyVec3 HeelPosition = {-0.08, 0, 0.14}; + AnyVec3 ToeDirection = {1, 0, 0.1}; + }; + Environment.GlobalRef.LeftFootPrint = { + AnyVec3 HeelPosition = {-0.08, 0, -0.14}; + AnyVec3 ToeDirection = {1, 0, -0.1}; + }; + + // Include the body part of the Human model + AnyFolder &BodyModel = .HumanModel.BodyModel; + + // Include the default mannequin drivers + AnyFolder &DefaultMannequinDrivers = .HumanModel.DefaultMannequinDrivers; + + // Environment files are used to include objects surrounding human, + // e.g. global reference frame + #include "Model\Environment.any" + + AnyFolder ModelEnvironmentConnection = + { + // This file contains all contraints to simulate the standing human + #include "Model/JointsAndDrivers.any" + + // Ground reaction force prediction + // #include "Model/GRFPrediction.any" + + // Include drivers of the fitness machine + #include "Model\MachineOperation.any" + }; + }; + // Define Study for running kinematics and inverse dynamics simulation analyses + AnyBodyStudy Study = + { + // Include the Model within the Study + AnyFolder &Model = .Model; + + Gravity={0.0, -9.81, 0.0}; + tStart = 0; + tEnd = 1; + nStep = 61; + + // Overdeterminate solver is needed while using the + // soft default mannequin drivers. + Kinematics.SolverType = KinSolOverDeterminate; + InitialConditions.SolverType = Kinematics.SolverType ; + }; + // This is readymade simulation package including some pre-processing steps and the InverseDynamics analysis + #include "Model\RunAppSequence.any" + +}; //Main + diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Input/FitnessMachine.BeamType1_cfg1_9c1185a5c5e9fc546128.anysurf3 b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Input/FitnessMachine.BeamType1_cfg1_9c1185a5c5e9fc546128.anysurf3 new file mode 100644 index 00000000..da7e25d2 --- /dev/null +++ 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Ob@?M7 Pbp?ҭt?z?8ANbP?uh l??:(t?J n?Ct?Ct? Ob@?@9楋?Ct?Ct?:(t??J n?@9楋? Ob@?uh l?@ܭc?y?8ANbP?7ez?7ez?z?ҭt?8ANbP?jz?jz?8ANbP?ҭt?+%i?VPb`?n ^`?@ kn?@ kn?Pb`?&x?lwX?lwX?@ kn?@ kn?Pb`?zt?@Gq?z?zQn?Q^zt?ٍ8?0xܡ???OG? z\?Nb@?J n? ? 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date: Mon Jan 20 10:44:46 2025 +// AnyExp4SOLIDWORKS Version: 1.3.1 + + AnyFolder FitnessMachine = + { + #if (ANYBODY_V1 > 7)|(ANYBODY_V1 == 7 & ANYBODY_V2 > 1) + AnyComponentDefinition CompDef = + { + }; + #endif + + AnyKinEqType _ANY_CTYPE_ = Hard; + + AnyFolder _ANY_INTERFACE_ = + { + ////LIST OF USER-DEFINED REFERENCE COORDINATE SYSTEMS + AnyRefFrame& Pedal___1____ANY_TOE1 = .Pedal___1.ANY_TOE1; + AnyRefFrame& Pedal___1____ANY_CENTER = .Pedal___1.ANY_CENTER; + AnyRefFrame& Pedal___1____ANY_TOE2 = .Pedal___1.ANY_TOE2; + AnyRefFrame& ANY_LEFT_HAND1 = .Handle___1.ANY_LEFT_HAND1; + AnyRefFrame& ANY_LEFT_HAND2 = .Handle___1.ANY_LEFT_HAND2; + AnyRefFrame& ANY_PELVIS = .MainBase___1.ANY_PELVIS; + AnyRefFrame& ANY_RIGHT_HAND1 = .Handle___2.ANY_RIGHT_HAND1; + AnyRefFrame& ANY_RIGHT_HAND2 = .Handle___2.ANY_RIGHT_HAND2; + AnyRefFrame& Pedal___2____ANY_TOE1 = .Pedal___2.ANY_TOE1; + AnyRefFrame& Pedal___2____ANY_CENTER = .Pedal___2.ANY_CENTER; + AnyRefFrame& Pedal___2____ANY_TOE2 = .Pedal___2.ANY_TOE2; + ////LIST OF USER-DEFINED REFERENCE COORDINATE SYSTEMS + }; + + AnyFixedRefFrame Origin = + { + Origin = {0, 0, 0}; + Axes={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyRefNode FitnessMachine_Fix_MainBase = + { + sRel={-2.775557562e-17, 2.220446049e-16, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.2466038452, 0.2466038452, 0.2466038452}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.06600000825, 0.06600000825, 0.06600000825}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.2466038452, 0.2466038452, 0.2466038452}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.2466038452, 0.2466038452, 0.2466038452}; + Visible = Off; + }; + }; + }; + + AnyRefNode& FitnessMachine_Fix_MainBase = Origin.FitnessMachine_Fix_MainBase; + AnyRefNode& Front__Plane = Origin.Front__Plane; + AnyRefNode& Origin_Ref = Origin.Origin_Ref; + AnyRefNode& Right__Plane = Origin.Right__Plane; + AnyRefNode& Top__Plane = Origin.Top__Plane; + AnySeg BeamType1___1 = + { + r0 = {-0.6853687895, 0.4351357746, -0.2100845596}; + Axes0={ {0.9983441109, 0.05752422338, 2.480588096e-18}, {-0.05752422338, 0.9983441109, -4.288451253e-18}, {-2.723170345e-18, 4.13865615e-18, 1} }; + Mass = 0.9662831853; + Jii = {0.0001628634509, 0.117482102, 0.1175755527}; + Jij = {2.532104071e-19, 4.612930849e-21, -7.490795228e-05}; + sCoM = {-0.003901455848, -7.029213812e-18, 0.0001300485283}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType1_cfg1_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.6, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.6, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Middle_Left = + { + sRel={-0.6, -2.220446049e-16, 0.01}; + ARel={ {0, -1, 7.559547177e-17}, {-1, 6.553459563e-35, 8.669116562e-19}, {-8.669116562e-19, -7.559547177e-17, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Middle_Left = + { + sRel={0.6, 0, 0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.1211321592, 0.1211321592, 0.1211321592}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.01211321592, 0.01211321592, 0.01211321592}; + Visible = On; + }; + }; + AnyRefNode Point1 = + { + sRel={0.6, -6.938893904e-18, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={0.6, -6.938893904e-18, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.1211321592, 0.1211321592, 0.1211321592}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.1211321592, 0.1211321592, 0.1211321592}; + Visible = Off; + }; + }; + }; + AnySeg BeamType1___2 = + { + r0 = {-0.7023201226, 0.5833917851, 0.2099154404}; + Axes0={ {0.9811374094, -0.1933116238, -1.425893077e-16}, {0.1933116238, 0.9811374094, -2.583740633e-16}, {1.898464137e-16, 2.259362885e-16, 1} }; + Mass = 0.9662831853; + Jii = {0.0001628634509, 0.117482102, 0.1175755527}; + Jij = {1.449643539e-19, 1.812963311e-21, 7.490795228e-05}; + sCoM = {-0.003901455848, -6.844633446e-18, -0.0001300485283}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType1_cfg2_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.6, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.6, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Middle_Right = + { + sRel={-0.6, -4.440892099e-16, -0.01}; + ARel={ {0, -1, 1.593356882e-16}, {1, 1.038434683e-32, 6.517276167e-17}, {-6.517276167e-17, 1.593356882e-16, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Middle_Right = + { + sRel={0.6, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.1211321592, 0.1211321592, 0.1211321592}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.01211321592, 0.01211321592, 0.01211321592}; + Visible = On; + }; + }; + AnyRefNode Point1 = + { + sRel={0.6, -6.938893904e-18, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={0.6, -6.938893904e-18, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.1211321592, 0.1211321592, 0.1211321592}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9882352941, 0.737254902, 0.5176470588}; + Opacity = 1; + ScaleXYZ = {0.1211321592, 0.1211321592, 0.1211321592}; + Visible = Off; + }; + }; + }; + AnySeg BeamType2___1 = + { + r0 = {-1.284375256, 0.4696503086, -0.1900845596}; + Axes0={ {0.3303564113, 0.943856261, -7.303957437e-17}, {-0.943856261, 0.3303564113, -8.053565954e-19}, {2.336895081e-17, 6.920491429e-17, 1} }; + Mass = 0.5731504441; + Jii = {9.756710924e-05, 0.02549418671, 0.02555354379}; + Jij = {-2.943128597e-36, 4.517509052e-21, -3.782208101e-36}; + sCoM = {9.919946668e-17, 3.415493019e-51, 9.236590454e-20}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType2_cfg2_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0, 1, 0}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.35, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.35, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={-0.2, 0, -0.055}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.11}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={0.15, 0, -0.011}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.022}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Bottom_Left = + { + sRel={0.35, 0, 0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Middle_Left = + { + sRel={0, 0, -0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Back_Left = + { + sRel={-0.35, 4.440892099e-16, -0.01}; + ARel={ {0, -1, 2.336895081e-17}, {1, 1.617246238e-33, 6.920491429e-17}, {-6.920491429e-17, 2.336895081e-17, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.007413501197, 0.007413501197, 0.007413501197}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={-0.2, 0, 0}; + ARel={ {0, 0, -1}, {0, 1, 0}, {1, -0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={0.15, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + }; + AnySeg BeamType2___2 = + { + r0 = {-1.291002568, 0.4674048108, 0.1899154404}; + Axes0={ {0.3114212335, 0.9502719691, 1.14224426e-18}, {-0.9502719691, 0.3114212335, -1.636291881e-16}, {-1.558479499e-16, 4.987216091e-17, 1} }; + Mass = 0.5731504441; + Jii = {9.756710924e-05, 0.02549418671, 0.02555354379}; + Jij = {-2.943128597e-36, 4.517509052e-21, -3.58661569e-36}; + sCoM = {9.55048305e-17, 3.415493019e-51, 9.236590454e-20}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType2_cfg2_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0, 1, 0}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.35, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.35, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={-0.2, 0, -0.055}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.11}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={0.15, 0, -0.011}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.022}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Bottom_Right = + { + sRel={0.35, 0, -0.01}; + ARel={ {0, -1, 4.930380658e-32}, {-1, -3.038581679e-64, -6.162975822e-33}, {6.162975822e-33, -4.930380658e-32, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Middle_Right = + { + sRel={0, 0, 0.01}; + ARel={ {0, -1, -4.930380658e-32}, {1, -3.038581679e-64, 6.162975822e-33}, {-6.162975822e-33, -4.930380658e-32, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Back_Right = + { + sRel={-0.35, 2.220446049e-16, 0.01}; + ARel={ {0, -1, 1.558479499e-16}, {-1, -7.772474036e-33, -4.987216091e-17}, {4.987216091e-17, -1.558479499e-16, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.007413501197, 0.007413501197, 0.007413501197}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={-0.2, 0, 0}; + ARel={ {0, 0, -1}, {0, 1, 0}, {1, -0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={0.15, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + }; + AnySeg BeamType2___3 = + { + r0 = {-0.484375256, 0.4696503086, -0.1900845596}; + Axes0={ {0.3303564113, 0.943856261, 1.132795161e-18}, {-0.943856261, 0.3303564113, 2.69076983e-17}, {2.502277336e-17, -9.958326452e-18, 1} }; + Mass = 0.5731504441; + Jii = {9.756710924e-05, 0.02524010411, 0.02529946119}; + Jij = {-3.429628199e-36, 4.517509052e-21, -1.32348898e-21}; + sCoM = {0.002192508223, 5.233389586e-36, 0}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType2_cfg1_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0, 1, 0}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.35, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.35, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={-0.2, 0, -0.055}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.11}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={0.15, 0, -0.011}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.022}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Small_Left = + { + sRel={-0.2, 0, 0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Front_Left = + { + sRel={-0.35, 2.220446049e-16, -0.01}; + ARel={ {-0, -1, 2.502277336e-17}, {1, -2.491849459e-34, -9.958326452e-18}, {9.958326452e-18, 2.502277336e-17, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Bottom_Left = + { + sRel={0.35, 0, -0.03828427125}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.007413501197, 0.007413501197, 0.007413501197}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={-0.2, 0, 0}; + ARel={ {0, 0, -1}, {0, 1, 0}, {1, -0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={0.15, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={-0.35, 0, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.002, 0.002, 0.002}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={-0.35, 0, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.002, 0.002, 0.002}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + }; + AnySeg BeamType2___4 = + { + r0 = {-0.4910025683, 0.4674048108, 0.1899154404}; + Axes0={ {0.3114212335, 0.9502719691, 7.548966052e-17}, {-0.9502719691, 0.3114212335, -5.743206282e-17}, {-7.808516263e-17, -5.38501445e-17, 1} }; + Mass = 0.5731504441; + Jii = {9.756710924e-05, 0.02524010411, 0.02529946119}; + Jij = {-3.429628199e-36, 4.517509052e-21, -1.240770919e-21}; + sCoM = {0.002192508223, 5.233389586e-36, 0}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType2_cfg1_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0, 1, 0}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.35, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.35, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={-0.2, 0, -0.055}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.11}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={0.15, 0, -0.011}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.022}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Small_Right = + { + sRel={-0.2, 0, -0.01}; + ARel={ {0, -1, -1.232595164e-32}, {-1, -0, 0}, {-0, 1.232595164e-32, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Front_Right = + { + sRel={-0.35, 0, 0.01}; + ARel={ {0, -1, 7.808516263e-17}, {-1, 4.204897291e-33, 5.38501445e-17}, {-5.38501445e-17, -7.808516263e-17, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Bottom_Right = + { + sRel={0.35, 0, -0.03828427125}; + ARel={ {0, -1, 1.232595164e-32}, {1, 0, 0}, {0, 1.232595164e-32, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.007413501197, 0.007413501197, 0.007413501197}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={-0.2, 0, 0}; + ARel={ {0, 0, -1}, {0, 1, 0}, {1, -0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={0.15, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={-0.35, 0, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.002, 0.002, 0.002}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={-0.35, 0, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.002, 0.002, 0.002}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = Off; + }; + }; + }; + AnySeg BeamType3___1 = + { + r0 = {-0.7687505121, 0.1393006173, -0.1700845596}; + Axes0={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + Mass = 0.6462831853; + Jii = {0.0001095220258, 0.03515305802, 0.03521451682}; + Jij = {-2.835998176e-20, 6.753246728e-21, 4.977679987e-05}; + sCoM = {-0.00388881249, 3.652344093e-18, -0.0001944406245}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType3_cfg1_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {1, 1, 0}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.4, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.4, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Fix_Pedal_Left = + { + sRel={-0.4, 0, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Bottom_Left = + { + sRel={-0.4, 0, -0.01}; + ARel={ {-0, -1, -7.303957437e-17}, {1, 5.882290294e-35, -8.053565954e-19}, {8.053565954e-19, -7.303957437e-17, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Bottom_Left = + { + sRel={0.4, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = Off; + }; + }; + AnyRefNode JNT_NODE1 = + { + sRel={-0.4, 3.469446952e-18, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = On; + }; + }; + AnyRefNode JNT_NODE2 = + { + sRel={-0.4, 3.469446952e-18, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = On; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.00811972906, 0.00811972906, 0.00811972906}; + Visible = On; + }; + }; + AnyRefNode Point1 = + { + sRel={0.4, 3.469446952e-18, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={0.4, 3.469446952e-18, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = Off; + }; + }; + }; + AnySeg BeamType3___2 = + { + r0 = {-0.7820051365, 0.1348096216, 0.1699154404}; + Axes0={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + Mass = 0.6462831853; + Jii = {0.0001095220258, 0.03515305802, 0.03521451682}; + Jij = {-5.494741291e-20, 3.077335711e-21, -4.977679987e-05}; + sCoM = {-0.00388881249, 3.81617184e-18, 0.0001944406245}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType3_cfg2_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {1, 1, 0}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.4, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.4, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Fix_Pedal_Right = + { + sRel={-0.4, 0, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Bottom_Right = + { + sRel={-0.4, 2.775557562e-17, 0.01}; + ARel={ {0, -1, -1.14224426e-18}, {-1, -1.86904501e-34, 1.636291881e-16}, {-1.636291881e-16, 1.14224426e-18, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Bottom_Right = + { + sRel={0.4, 0, 0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = Off; + }; + }; + AnyRefNode JNT_NODE1 = + { + sRel={-0.4, 3.469446952e-18, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = On; + }; + }; + AnyRefNode JNT_NODE2 = + { + sRel={-0.4, 3.469446952e-18, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = On; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.00811972906, 0.00811972906, 0.00811972906}; + Visible = On; + }; + }; + AnyRefNode Point1 = + { + sRel={0.4, 3.469446952e-18, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={0.4, 3.469446952e-18, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 1, 0}; + Opacity = 1; + ScaleXYZ = {0.0811972906, 0.0811972906, 0.0811972906}; + Visible = Off; + }; + }; + }; + AnySeg BeamType4___1 = + { + r0 = {-0.6502553184, 0.6646027748, -0.1700845596}; + Axes0={ {0.9980878015, 0.06181213953, -1.330782598e-16}, {-0.06181213953, 0.9980878015, 6.349897864e-17}, {1.367487954e-16, -5.515170402e-17, 1} }; + Mass = 0.1662831853; + Jii = {2.945149322e-05, 0.0006019091785, 0.0006154385113}; + Jij = {8.505341402e-21, 1.719269858e-21, -1.209153706e-05}; + sCoM = {0.003778605333, 7.364826437e-21, -0.0007557210665}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType4_cfg1_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {1, 0, 1}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.1, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.1, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Small_Left = + { + sRel={0.1, 1.110223025e-16, -0.01}; + ARel={ {-0, -1, 1.362162021e-16}, {1, -3.844761979e-33, -2.82254381e-17}, {2.82254381e-17, 1.362162021e-16, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Small_Left = + { + sRel={-0.1, 0, 0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point1 = + { + sRel={-0.1, 0, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.002220360331, 0.002220360331, 0.002220360331}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={-0.1, 0, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.002220360331, 0.002220360331, 0.002220360331}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = Off; + }; + }; + }; + AnySeg BeamType4___2 = + { + r0 = {-0.6531018924, 0.6635378816, 0.1699154404}; + Axes0={ {0.9981507745, 0.06078676939, -1.623658553e-16}, {-0.06078676939, 0.9981507745, 7.725389591e-17}, {1.667616189e-16, -6.724134023e-17, 1} }; + Mass = 0.1662831853; + Jii = {2.945149322e-05, 0.0006019091785, 0.0006154385113}; + Jij = {7.149543932e-22, 2.1118151e-23, 1.209153706e-05}; + sCoM = {0.003778605333, 7.364826437e-21, 0.0007557210665}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.BeamType4_cfg2_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {1, 0, 1}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0.1, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.1, 0, 0.01}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.02}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_H_Beam_Small_Right = + { + sRel={0.1, -2.220446049e-16, 0.01}; + ARel={ {0, -1, -2.456027916e-16}, {-1, -2.946703627e-32, 1.199784256e-16}, {-1.199784256e-16, 2.456027916e-16, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Small_Right = + { + sRel={-0.1, 0, -0.01}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point1 = + { + sRel={-0.1, 0, 0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.002220360331, 0.002220360331, 0.002220360331}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={-0.1, 0, -0.01}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.002220360331, 0.002220360331, 0.002220360331}; + Visible = On; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {1, 0, 1}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = Off; + }; + }; + }; + AnySeg Handle___1 = + { + r0 = {-0.7500640986, 0.6707839888, -0.1200845596}; + Axes0={ {-8.153200337e-17, 0.9269599719, 0.3751602465}, {5.204170428e-17, 0.3751602465, -0.9269599719}, {-1, -5.605292495e-17, -7.882814322e-17} }; + Mass = 1.681637469; + Jii = {0.2236012824, 0.2047761639, 0.01918214946}; + Jij = {1.189199903e-07, -0.0479881227, -2.36125147e-07}; + sCoM = {-3.844279998e-07, 0.06605491078, -0.203434406}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.Handle_cfg1_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode ANY_LEFT_HAND1 = + { + sRel={0.02, 0.2121320344, -0.6121320344}; + ARel={ {0, 1, -0}, {1, 0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode ANY_LEFT_HAND2 = + { + sRel={0.02, 0.2828427125, -0.6828427125}; + ARel={ {0, 1, -0}, {1, 0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode Axis1 = + { + sRel={-0.022, 0, 0}; + ARel={ {0, 0, 1}, {0, -1, 0}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={0.022, 0, 0.4}; + ARel={ {0, -0, -1}, {0, -1, 0}, {-1, -0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={-0.022, 0, -0.4}; + ARel={ {0, 0, 1}, {0, -1, 0}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={0, 0.2918895488, -0.6918895488}; + ARel={ {-0, -1, 0}, {0.7071067812, -0, -0.7071067812}, {0.7071067812, 0, 0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.4089812798}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={0, 0, -0.4}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.8}; + Visible = Off; + }; + }; + AnyRefNode Axis6 = + { + sRel={-0.022, 0, 0.3}; + ARel={ {0, 0, 1}, {0, -1, 0}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_Handle_Left = + { + sRel={-0.02, 5.551115123e-17, 0.4}; + ARel={ {-7.882814322e-17, 5.605292495e-17, 1}, {0, -1, 5.605292495e-17}, {1, 4.418547995e-33, 7.882814322e-17} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Small_Left = + { + sRel={-0.02, 0, 0}; + ARel={ {-2.465190329e-32, -1.232595164e-32, 1}, {0, -1, -1.232595164e-32}, {1, -3.038581679e-64, 2.465190329e-32} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode LeftHand_Point1 = + { + sRel={0.02, 0.2121320344, -0.6121320344}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode LeftHand_Point2 = + { + sRel={0.02, 0.2828427125, -0.6828427125}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.01231061576, 0.01231061576, 0.01231061576}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={-0.02, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={0.02, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane3 = + { + sRel={0, 0.2, -0.2}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane4 = + { + sRel={0, 0.4121320344, -0.4121320344}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane5 = + { + sRel={0, 0.4828427125, -0.4828427125}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane6 = + { + sRel={0, 0, 0.3}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane7 = + { + sRel={0, 0.4828427125, -0.4828427125}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={-2.69618961e-18, -1.932468104e-34, -0.4}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={-2.69618961e-18, 0.2121320344, -0.6121320344}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point3 = + { + sRel={-2.69618961e-18, 0.2828427125, -0.6828427125}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode RightHand_Point1 = + { + sRel={-0.02, 0.2121320344, -0.6121320344}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode RightHand_Point2 = + { + sRel={-0.02, 0.2828427125, -0.6828427125}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + }; + AnySeg Handle___2 = + { + r0 = {-0.7529169699, 0.6696165585, 0.1199154404}; + Axes0={ {3.473607284e-18, 0.9240413963, 0.3822924247}, {3.467108001e-18, 0.3822924247, -0.9240413963}, {-1, 4.535206049e-18, -1.875817567e-18} }; + Mass = 1.681637469; + Jii = {0.2236012824, 0.2047761639, 0.01918214946}; + Jij = {1.189199903e-07, -0.0479881227, -2.36125147e-07}; + sCoM = {-3.844279998e-07, 0.06605491078, -0.203434406}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.Handle_cfg2_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode ANY_RIGHT_HAND1 = + { + sRel={-0.02, 0.2121320344, -0.6121320344}; + ARel={ {0, -1, -0}, {-1, 0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode ANY_RIGHT_HAND2 = + { + sRel={-0.02, 0.2828427125, -0.6828427125}; + ARel={ {0, -1, -0}, {-1, 0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode Axis1 = + { + sRel={-0.022, 0, 0}; + ARel={ {0, 0, 1}, {0, -1, 0}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={0.022, 0, 0.4}; + ARel={ {0, -0, -1}, {0, -1, 0}, {-1, -0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={-0.022, 0, -0.4}; + ARel={ {0, 0, 1}, {0, -1, 0}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={0, 0.2918895488, -0.6918895488}; + ARel={ {-0, -1, 0}, {0.7071067812, -0, -0.7071067812}, {0.7071067812, 0, 0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.4089812798}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={0, 0, -0.4}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.8}; + Visible = Off; + }; + }; + AnyRefNode Axis6 = + { + sRel={-0.022, 0, 0.3}; + ARel={ {0, 0, 1}, {0, -1, 0}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Hinge_Handle_Right = + { + sRel={0.02, 1.110223025e-16, 0.4}; + ARel={ {1.875817567e-18, -4.535206049e-18, -1}, {0, -1, 4.535206049e-18}, {-1, -8.507219176e-36, -1.875817567e-18} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Small_Right = + { + sRel={-0.02, 0, 0}; + ARel={ {-3.851859889e-34, 7.703719778e-34, 1}, {0, -1, 7.703719778e-34}, {1, 2.967364921e-67, 3.851859889e-34} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.02220360331, 0.02220360331, 0.02220360331}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode LeftHand_Point1 = + { + sRel={0.02, 0.2121320344, -0.6121320344}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode LeftHand_Point2 = + { + sRel={0.02, 0.2828427125, -0.6828427125}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.01231061576, 0.01231061576, 0.01231061576}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={-0.02, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={0.02, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane3 = + { + sRel={0, 0.2, -0.2}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane4 = + { + sRel={0, 0.4121320344, -0.4121320344}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane5 = + { + sRel={0, 0.4828427125, -0.4828427125}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane6 = + { + sRel={0, 0, 0.3}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Plane7 = + { + sRel={0, 0.4828427125, -0.4828427125}; + ARel={ {-1, 0, 0}, {0, 0.7071067812, 0.7071067812}, {0, 0.7071067812, -0.7071067812} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={-2.69618961e-18, -1.932468104e-34, -0.4}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = On; + }; + }; + AnyRefNode Point2 = + { + sRel={-2.69618961e-18, 0.2121320344, -0.6121320344}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point3 = + { + sRel={-2.69618961e-18, 0.2828427125, -0.6828427125}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + AnyRefNode RightHand_Point1 = + { + sRel={-0.02, 0.2121320344, -0.6121320344}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode RightHand_Point2 = + { + sRel={-0.02, 0.2828427125, -0.6828427125}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.7921568627, 0.8196078431, 0.9333333333}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = Off; + }; + }; + }; + AnySeg MainBase___1 = + { + r0 = {-0.1, 0.55, -8.455958313e-05}; + Axes0={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + Mass = 73.1179928; + Jii = {6.221732725, 13.35441288, 17.11071671}; + Jij = {0.5751545834, -0.0006960674174, -0.0005824144636}; + sCoM = {-0.189906896, -0.04988090848, 1.942340762e-05}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.MainBase_cfg0_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode ANY_PELVIS = + { + sRel={-1.15, 0.25, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = On; + }; + }; + AnyRefNode Axis1 = + { + sRel={-1.3, 0.25, -0.3300000275}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.660000055}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.5, 0.25, -0.2456702105}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.4968505622}; + Visible = Off; + }; + }; + AnyRefNode Axis4 = + { + sRel={-0.5, -0.25, -0.11}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.22}; + Visible = Off; + }; + }; + AnyRefNode Axis5 = + { + sRel={-1.15, -0.1675, 0}; + ARel={ {0, -1, 0}, {0, 0, 1}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.385}; + Visible = Off; + }; + }; + AnyRefNode CoordSys1 = + { + sRel={-0.35, -0.35, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Fix_MainBase = + { + sRel={0.1, -0.55, 8.455958313e-05}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_Handle_Left = + { + sRel={-0.5, -0.25, -0.1}; + ARel={ {0, -1, 0}, {-1, -0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_Handle_Right = + { + sRel={-0.5, -0.25, 0.1}; + ARel={ {0, -1, -0}, {1, 0, 0}, {-0, -0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.1231061576, 0.1231061576, 0.1231061576}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_MainCylinder = + { + sRel={0, 0, 5.551115123e-17}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Back_Left = + { + sRel={-1.3, 0.25, -0.2}; + ARel={ {-0, -1, -0}, {1, 0, -0}, {0, -0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Back_Right = + { + sRel={-1.3, 0.25, 0.2}; + ARel={ {0, -1, -0}, {-1, 0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Front_Left = + { + sRel={-0.5, 0.25, -0.2}; + ARel={ {-0, -1, -0}, {1, 0, -0}, {0, -0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_V_Beam_Front_Right = + { + sRel={-0.5, 0.25, 0.2}; + ARel={ {0, -1, -0}, {-1, 0, -0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.07413501197, 0.07413501197, 0.07413501197}; + Visible = On; + }; + }; + AnyRefNode FIXATION_NODE = + { + sRel={0.1, -0.55, 8.455958313e-05}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.0600000075, 0.0600000075, 0.0600000075}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={0, 0.25, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane10 = + { + sRel={0, 0.5, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={-1.3, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane3 = + { + sRel={-0.5, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane4 = + { + sRel={-0, -0.25, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane5 = + { + sRel={-1.15, -9.119689131e-17, 0}; + ARel={ {0, -7.930164462e-17, -1}, {0, 1, -7.930164462e-17}, {1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane6 = + { + sRel={0, 0, 0.2}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane7 = + { + sRel={0, 0, -0.2}; + ARel={ {-1, 0, 0}, {0, 1, 0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane8 = + { + sRel={-0, -0, 0.25}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Plane9 = + { + sRel={0, 0, -0.25}; + ARel={ {-1, 0, 0}, {0, 1, 0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={-0.35, -0.35, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.0198131273, 0.0198131273, 0.0198131273}; + Visible = Off; + }; + }; + AnyRefNode Point2 = + { + sRel={0, 0.25, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.0198131273, 0.0198131273, 0.0198131273}; + Visible = Off; + }; + }; + AnyRefNode Point3 = + { + sRel={-1.15, 0.25, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.0198131273, 0.0198131273, 0.0198131273}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + AnyRefNode RotationAxis = + { + sRel={0, 0, -0.1011588671}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.22}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.9098039216, 0.4431372549, 0.03137254902}; + Opacity = 1; + ScaleXYZ = {0.198131273, 0.198131273, 0.198131273}; + Visible = Off; + }; + }; + }; + AnySeg MainCylinder___1 = + { + r0 = {-0.1, 0.55, -8.455958313e-05}; + Axes0={ {0.9958583961, -0.09091784676, -5.876354115e-28}, {0.09091784676, 0.9958583961, -2.311853653e-28}, {6.06220534e-28, 1.768013408e-28, 1} }; + Mass = 59.69026042; + Jii = {1.404553716, 1.386882257, 1.859430152}; + Jij = {1.445602897e-18, 0.02061670179, 7.228014483e-19}; + sCoM = {2.807374494e-18, 1.135237731e-19, 0}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.MainCylinder_cfg0_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0, 1, 1}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode Axis1 = + { + sRel={0, 0.15, 0.03325136861}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.4021864843}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={0, -0.15, 0.2034520868}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.4030478761}; + Visible = Off; + }; + }; + AnyRefNode Center_Point = + { + sRel={3.533949646e-17, -2.415585131e-33, -0.15}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.008124038405, 0.008124038405, 0.008124038405}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_Hinge_MainCylinder = + { + sRel={-2.775557562e-17, 0, 5.070000409e-17}; + ARel={ {0, -1, 6.06220534e-28}, {1, 1.071806032e-55, 1.768013408e-28}, {-1.768013408e-28, 6.06220534e-28, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Middle_Left = + { + sRel={1.387778781e-17, -0.15, -0.3414213562}; + ARel={ {-0, -1, -3.587324069e-43}, {1, 6.434446987e-86, -1.793662034e-43}, {1.793662034e-43, -3.587324069e-43, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = On; + }; + }; + AnyRefNode FitnessMachine_TransSpherical_H_Beam_Middle_Right = + { + sRel={6.938893904e-18, 0.15, 0.3414213562}; + ARel={ {0, -1, 3.587324069e-43}, {-1, 6.434446987e-86, 1.793662034e-43}, {-1.793662034e-43, -3.587324069e-43, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + AnyRefNode OffsetPlane1 = + { + sRel={0, 0, 0.2}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + AnyRefNode OffsetPlane2 = + { + sRel={0, 0, -0.2}; + ARel={ {-1, 0, 0}, {0, 1, 0}, {0, 0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.04, 0.04, 0.04}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={0, 0.15, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + AnyRefNode Plane2 = + { + sRel={-0, -0.15, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + AnyRefNode RotationAxis = + { + sRel={0, 0, -0.15327099}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.3}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 1, 1}; + Opacity = 1; + ScaleXYZ = {0.08124038405, 0.08124038405, 0.08124038405}; + Visible = Off; + }; + }; + }; + AnySeg Pedal___1 = + { + r0 = {-1.168750512, 0.1393006173, -0.1000845596}; + Axes0={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + Mass = 2.379398224; + Jii = {0.003169974655, 0.05161298372, 0.04907240264}; + Jij = {-5.020558514e-20, 8.720515957e-20, 1.447353819e-35}; + sCoM = {5.334118853e-18, 0.0001344877864, 7.119724129e-19}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.Pedal_cfg0_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.5882352941, 0.5607843137, 1}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode ANY_CENTER = + { + sRel={2.891205793e-17, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode ANY_TOE1 = + { + sRel={0.25, 0.02, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode ANY_TOE2 = + { + sRel={0.18, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode Axis1 = + { + sRel={0.25, 0, -0.06}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.12}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.25, 0, 0.06}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.12}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Fix_Pedal_Left = + { + sRel={0, 0, -0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode JNT_NODE1 = + { + sRel={4.33680869e-17, -3.469446952e-18, 0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode JNT_NODE2 = + { + sRel={4.33680869e-17, -3.469446952e-18, -0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.005157518783, 0.005157518783, 0.005157518783}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={0.18, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={2.891205793e-17, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point2 = + { + sRel={4.33680869e-17, -3.469446952e-18, 0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point3 = + { + sRel={4.33680869e-17, -3.469446952e-18, -0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point4 = + { + sRel={0.18, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + }; + AnySeg Pedal___2 = + { + r0 = {-1.182005137, 0.1348096216, 0.09991544042}; + Axes0={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + Mass = 2.379398224; + Jii = {0.003169974655, 0.05161298372, 0.04907240264}; + Jij = {-1.031451443e-19, 8.718483656e-20, 0}; + sCoM = {5.334118853e-18, 0.0001344877864, 0}; + JaboutCoMOnOff = On; + AnyDrawSurf drw = + { + FileName = "FitnessMachine.Pedal_cfg0_9c1185a5c5e9fc546128.stl"; + Opacity = 1; + RGB = {0.5882352941, 0.5607843137, 1}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + }; + }; + AnyRefNode Origin = + { + sRel = {0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + }; + AnyRefNode ANY_CENTER = + { + sRel={2.891205793e-17, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode ANY_TOE1 = + { + sRel={0.25, 0.02, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode ANY_TOE2 = + { + sRel={0.18, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode Axis1 = + { + sRel={0.25, 0, -0.06}; + ARel={ {0, -1, 0}, {1, 0, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.12}; + Visible = Off; + }; + }; + AnyRefNode Axis2 = + { + sRel={-0.25, 0, 0.06}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.12}; + Visible = Off; + }; + }; + AnyRefNode Axis3 = + { + sRel={0, 0, 0.022}; + ARel={ {0, -1, 0}, {-1, -0, 0}, {0, -0, -1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0, 0, 0.044}; + Visible = Off; + }; + }; + AnyRefNode FitnessMachine_Fix_Pedal_Right = + { + sRel={0, 0, 0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = On; + }; + }; + AnyRefNode Front__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode JNT_NODE1 = + { + sRel={4.33680869e-17, -3.469446952e-18, 0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode JNT_NODE2 = + { + sRel={4.33680869e-17, -3.469446952e-18, -0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode Origin_Ref = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawRefFrame drw_node = + { + RGB = {0, 0, 0}; + Opacity = 1; + ScaleXYZ = {0.005157518783, 0.005157518783, 0.005157518783}; + Visible = On; + }; + }; + AnyRefNode Plane1 = + { + sRel={0.18, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode Point1 = + { + sRel={2.891205793e-17, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point2 = + { + sRel={4.33680869e-17, -3.469446952e-18, 0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point3 = + { + sRel={4.33680869e-17, -3.469446952e-18, -0.06}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Point4 = + { + sRel={0.18, 0.02, 7.228014483e-18}; + ARel={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; + AnyDrawNode drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.004, 0.004, 0.004}; + Visible = Off; + }; + }; + AnyRefNode Right__Plane = + { + sRel={0, 0, 0}; + ARel={ {-0, 0, 1}, {-0, 1, 0}, {-1, 0, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + AnyRefNode Top__Plane = + { + sRel={0, 0, 0}; + ARel={ {1, 0, 0}, {0, 0, 1}, {0, -1, 0} }; + AnyDrawRefFrame drw_node = + { + RGB = {0.5882352941, 0.5607843137, 1}; + Opacity = 1; + ScaleXYZ = {0.05157518783, 0.05157518783, 0.05157518783}; + Visible = Off; + }; + }; + }; + + AnyFolder Mates = + { + #if (ANYBODY_V1 > 7)|(ANYBODY_V1 == 7 & ANYBODY_V2 > 1) + AnyComponentDefinition CompDef = + { + }; + #endif + + AnyKinEq Fix_MainBase = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...MainBase___1.FitnessMachine_Fix_MainBase; + AnyRefFrame& target = ....FitnessMachine.FitnessMachine_Fix_MainBase; + Ref = 0; + }; + AnyKinRotational rot = + { + AnyRefFrame& base = ...MainBase___1.FitnessMachine_Fix_MainBase; + AnyRefFrame& target = ....FitnessMachine.FitnessMachine_Fix_MainBase; + Type = PlanarAngles; + }; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyKinEq Fix_Pedal_Left = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...BeamType3___1.FitnessMachine_Fix_Pedal_Left; + AnyRefFrame& target = ...Pedal___1.FitnessMachine_Fix_Pedal_Left; + Ref = 0; + }; + AnyKinRotational rot = + { + AnyRefFrame& base = ...BeamType3___1.FitnessMachine_Fix_Pedal_Left; + AnyRefFrame& target = ...Pedal___1.FitnessMachine_Fix_Pedal_Left; + Type = PlanarAngles; + }; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyKinEq Fix_Pedal_Right = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...BeamType3___2.FitnessMachine_Fix_Pedal_Right; + AnyRefFrame& target = ...Pedal___2.FitnessMachine_Fix_Pedal_Right; + Ref = 0; + }; + AnyKinRotational rot = + { + AnyRefFrame& base = ...BeamType3___2.FitnessMachine_Fix_Pedal_Right; + AnyRefFrame& target = ...Pedal___2.FitnessMachine_Fix_Pedal_Right; + Type = PlanarAngles; + }; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_H_Beam_Bottom_Left = + { + AnyRefFrame& base = ..BeamType2___1.FitnessMachine_Hinge_H_Beam_Bottom_Left; + AnyRefFrame& target = ..BeamType3___1.FitnessMachine_Hinge_H_Beam_Bottom_Left; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_H_Beam_Bottom_Right = + { + AnyRefFrame& base = ..BeamType2___2.FitnessMachine_Hinge_H_Beam_Bottom_Right; + AnyRefFrame& target = ..BeamType3___2.FitnessMachine_Hinge_H_Beam_Bottom_Right; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_H_Beam_Middle_Left = + { + AnyRefFrame& base = ..BeamType2___1.FitnessMachine_Hinge_H_Beam_Middle_Left; + AnyRefFrame& target = ..BeamType1___1.FitnessMachine_Hinge_H_Beam_Middle_Left; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_H_Beam_Middle_Right = + { + AnyRefFrame& base = ..BeamType2___2.FitnessMachine_Hinge_H_Beam_Middle_Right; + AnyRefFrame& target = ..BeamType1___2.FitnessMachine_Hinge_H_Beam_Middle_Right; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_H_Beam_Small_Left = + { + AnyRefFrame& base = ..BeamType2___3.FitnessMachine_Hinge_H_Beam_Small_Left; + AnyRefFrame& target = ..BeamType4___1.FitnessMachine_Hinge_H_Beam_Small_Left; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_H_Beam_Small_Right = + { + AnyRefFrame& base = ..BeamType2___4.FitnessMachine_Hinge_H_Beam_Small_Right; + AnyRefFrame& target = ..BeamType4___2.FitnessMachine_Hinge_H_Beam_Small_Right; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_Handle_Left = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_Handle_Left; + AnyRefFrame& target = ..Handle___1.FitnessMachine_Hinge_Handle_Left; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_Handle_Right = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_Handle_Right; + AnyRefFrame& target = ..Handle___2.FitnessMachine_Hinge_Handle_Right; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_MainCylinder = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_MainCylinder; + AnyRefFrame& target = ..MainCylinder___1.FitnessMachine_Hinge_MainCylinder; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_V_Beam_Back_Left = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_V_Beam_Back_Left; + AnyRefFrame& target = ..BeamType2___1.FitnessMachine_Hinge_V_Beam_Back_Left; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_V_Beam_Back_Right = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_V_Beam_Back_Right; + AnyRefFrame& target = ..BeamType2___2.FitnessMachine_Hinge_V_Beam_Back_Right; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_V_Beam_Front_Left = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_V_Beam_Front_Left; + AnyRefFrame& target = ..BeamType2___3.FitnessMachine_Hinge_V_Beam_Front_Left; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyRevoluteJoint Hinge_V_Beam_Front_Right = + { + AnyRefFrame& base = ..MainBase___1.FitnessMachine_Hinge_V_Beam_Front_Right; + AnyRefFrame& target = ..BeamType2___4.FitnessMachine_Hinge_V_Beam_Front_Right; + Axis = z; + Constraints.CType = {.._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_, .._ANY_CTYPE_ }; + }; + AnyKinEqSimpleDriver TransSpherical_H_Beam_Bottom_Left = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...BeamType2___3.FitnessMachine_TransSpherical_H_Beam_Bottom_Left; + AnyRefFrame& target = ...BeamType3___1.FitnessMachine_TransSpherical_H_Beam_Bottom_Left; + Ref = 0; + }; + MeasureOrganizer = {0, 1}; + DriverPos = {0, 0}; + DriverVel = {0, 0}; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_}; + }; + AnyKinEqSimpleDriver TransSpherical_H_Beam_Bottom_Right = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...BeamType2___4.FitnessMachine_TransSpherical_H_Beam_Bottom_Right; + AnyRefFrame& target = ...BeamType3___2.FitnessMachine_TransSpherical_H_Beam_Bottom_Right; + Ref = 0; + }; + MeasureOrganizer = {0, 1}; + DriverPos = {0, 0}; + DriverVel = {0, 0}; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_}; + }; + AnyKinEqSimpleDriver TransSpherical_H_Beam_Middle_Left = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...MainCylinder___1.FitnessMachine_TransSpherical_H_Beam_Middle_Left; + AnyRefFrame& target = ...BeamType1___1.FitnessMachine_TransSpherical_H_Beam_Middle_Left; + Ref = 0; + }; + MeasureOrganizer = {0, 1}; + DriverPos = {0, 0}; + DriverVel = {0, 0}; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_}; + }; + AnyKinEqSimpleDriver TransSpherical_H_Beam_Middle_Right = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...MainCylinder___1.FitnessMachine_TransSpherical_H_Beam_Middle_Right; + AnyRefFrame& target = ...BeamType1___2.FitnessMachine_TransSpherical_H_Beam_Middle_Right; + Ref = 0; + }; + MeasureOrganizer = {0, 1}; + DriverPos = {0, 0}; + DriverVel = {0, 0}; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_}; + }; + AnyKinEqSimpleDriver TransSpherical_H_Beam_Small_Left = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...Handle___1.FitnessMachine_TransSpherical_H_Beam_Small_Left; + AnyRefFrame& target = ...BeamType4___1.FitnessMachine_TransSpherical_H_Beam_Small_Left; + Ref = 0; + }; + MeasureOrganizer = {0, 1}; + DriverPos = {0, 0}; + DriverVel = {0, 0}; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_}; + }; + AnyKinEqSimpleDriver TransSpherical_H_Beam_Small_Right = + { + AnyKinLinear lin = + { + AnyRefFrame& base = ...Handle___2.FitnessMachine_TransSpherical_H_Beam_Small_Right; + AnyRefFrame& target = ...BeamType4___2.FitnessMachine_TransSpherical_H_Beam_Small_Right; + Ref = 0; + }; + MeasureOrganizer = {0, 1}; + DriverPos = {0, 0}; + DriverVel = {0, 0}; + CType = {.._ANY_CTYPE_, .._ANY_CTYPE_}; + }; + }; + }; diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Input/MyFitnessMachine.main.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Input/MyFitnessMachine.main.any new file mode 100644 index 00000000..4888631d --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Input/MyFitnessMachine.main.any @@ -0,0 +1,36 @@ +/// This AnyScript Main-file is an automatically generated helper file, which will be overwritten during subsequent exports from SolidWorks. +/// The purpose of this Main-file is to enable the user to easily load the exported SolidWorks model in the AnyBody Modeling System. +/// Before making changes to this file, please save it under a different name to avoid losing your work when the SolidWorks model is re-translated. +/// +/// This AnyScript file was automatically generated by the AnyExp4SOLIDWORKS translator add-in. +/// Translation date: Fri Jan 17 12:19:55 2025 +/// AnyExp4SOLIDWORKS Version: 1.3.1 +Main = +{ + #include "FitnessMachine.any" + + FitnessMachine = + { + AnyFolder Drivers = + { + AnyKinEqSimpleDriver rot_drv = + { + AnyKinMeasure& jnt = ..Mates.Hinge_MainCylinder; + MeasureOrganizer = {0}; + DriverPos = pi/180*{0}; + DriverVel = pi/180*{180}; + }; + }; + }; + + AnyBodyStudy Study = + { + AnyFolder& Model = .FitnessMachine; + tStart = 0; + tEnd = 1; + nStep = 101; + Gravity = {0, -9.81, 0}; + InitialConditions.SolverType = KinSolOverDeterminate; + Kinematics.SolverType = KinSolOverDeterminate; + }; +}; diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Input/SW2AB.log b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Input/SW2AB.log new file mode 100644 index 00000000..34fd5177 --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Input/SW2AB.log @@ -0,0 +1,157 @@ +WARNING - 10-44-46.000: + Feature 'Default' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Initial_Position_Setting' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Folder2___EndTag___' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Mate_Config1' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident01' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident02' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident03' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident04' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident05' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident06' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident07' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident08' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident09' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident10' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident11' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident12' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident13' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident14' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident15' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident16' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric01' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric02' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric03' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric04' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric05' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric06' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric07' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric08' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric09' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric10' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric11' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric12' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric13' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric14' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric15' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric16' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric17' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric18' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric19' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Folder2___EndTag___' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Mate_Config2' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_MainBase' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_MainCylinder' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_MainCylinder' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_Handle_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_Handle_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_Handle_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_Handle_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_V_Beam_Back_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_V_Beam_Back_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_V_Beam_Front_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_V_Beam_Front_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_V_Beam_Back_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_V_Beam_Back_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_V_Beam_Front_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_V_Beam_Front_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Small_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_H_Beam_Small_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Small_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_H_Beam_Small_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_Pedal_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_Pedal_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Bottom_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_H_Beam_Bottom_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Bottom_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_H_Beam_Bottom_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Bottom_Right_2' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Bottom_Left_2' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Small_Right_2' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Small_Left_2' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Middle_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_H_Beam_Middle_Right' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_H_Beam_Middle_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Coincident_H_Beam_Middle_Left' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_MainCylinder_2' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Concentric_MainCylinder_3' in 'FitnessMachine' will be skipped because it is suppressed! +WARNING - 10-44-46.000: + Feature 'Folder1___EndTag___' in 'FitnessMachine' will be skipped because it is suppressed! +WarningCount: 77 +ErrorCount: 0 + \ No newline at end of file diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/BodyModelConfiguration.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/BodyModelConfiguration.any new file mode 100644 index 00000000..e723b48c --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/BodyModelConfiguration.any @@ -0,0 +1,21 @@ +#path __BM_PLUGIN_FILE__ "BodyModelConfiguration.any" +#define BM_CONFIG_PLUGIN __BM_PLUGIN_FILE__ + +// ----------------------------------------------------------------------------------- +// The BodyModel configuration can be modified using BodyModel GUI plugin +// or by manually editing this file. +// +// Please see this this file for more information on the options: +// #path HTML_DOC "/bm_config/index.html" +// ----------------------------------------------------------------------------------- + +#define BM_MANNEQUIN_DRIVER_DEFAULT OFF + +// Enable the TLEM2 lower extremity model +#define BM_LEG_MODEL _LEG_MODEL_TLEM2_ + +// Switch off all muscles of the body model +// #define BM_LEG_MUSCLES_BOTH _MUSCLES_NONE_ +// #define BM_TRUNK_MUSCLES _MUSCLES_NONE_ +// #define BM_ARM_MUSCLES_BOTH _MUSCLES_NONE_ + diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/CoM_View.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/CoM_View.any new file mode 100644 index 00000000..d5f9fe2c --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/CoM_View.any @@ -0,0 +1,45 @@ +AnyFolder Human_CoM = +{ + AnyKinCoM human_CoM= + { + AnyFolder& human = Main.HumanModel; + }; + + AnySeg dummySeg = + { + Mass = 0; + Jii = {0, 0, 0}; + r0 = ..BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r0; + Axes0 = ..BodyModel.Trunk.SegmentsLumbar.PelvisSeg.Axes0; + AnyDrawNode drw = + { + ScaleXYZ={1,1,1}*0.02; + RGB = {0, 248, 208} / 255; + }; + }; + + AnyKinEq rotCon = + { + AnyKinRotational rot= + { + AnySeg& ref = ..dummySeg; + Type = RotAxesAngles; + }; + }; + + AnyKinLinear lin= + { + AnySeg& ref = .dummySeg; + }; + + AnyKinEq human_CoM_Drv = + { + AnyKinMeasureLinComb lincomb = + { + AnyKinLinear &ref1 = ..lin; + AnyKinCoM &ref2 = ..human_CoM; + Coef={{1,0,0,-1,0,0},{0,1,0,0,-1,0},{0,0,1,0,0,-1}}; + OutDim = 3; + }; + }; +}; \ No newline at end of file diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/DrawSettings.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/DrawSettings.any new file mode 100644 index 00000000..1cb0aa9c --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/DrawSettings.any @@ -0,0 +1,149 @@ + +DrawSettings ={ + + + //This is the color definitions of the nodes and segments + Colors = { + AnyBodyRed = {149/256,51/256,55/256}; //AnyBody standard red + AnyBodyGreen = {47/256,131/256,80/256}; //AnyBody standard green + AnyBodyBlue = {82/256,85/256,111/256}; //AnyBody standard blue + AnyBodyYellow= {235/256,197/256,17/256}; //AnyBody standard yellow + AnyBodyPaleYellow = {248/256,204/256,115/256}; //AnyBody standard pale yellow +AnyBodyGrey = {153/256,153/256,153/256}; //AnyBody standard grey + + Nodes = AnyBodyPaleYellow; + Segments = AnyBodyPaleYellow; +}; + + Muscle ={ + RGB = .Colors.AnyBodyRed; + Visible =On; + DrawScaleOnOff =Off; + Bulging =0.0; + ColorScale =1.0; + RGBColorScale = {0.957031, 0.785156, 0.785156}; + MaxStress = 2500000.000000; //N/m^2 //This number is for graphics only! + Opacity =1.0; + DrawScale = + { + EnableCreasing = Off; + CreasingAngle = 0.524; + EnableWireframe = Off; + EnableSmoothing = On; + Param = 0.0; + ParamArray = {0.0, 0.167, 0.333, 0.5, 0.667, 0.833, 1.0}; + RGBArray = {{0.0, 0.0, 0.6}, {0.0, 0.0, 1.0}, {0.0, 1.0, 1.0}, {0.0, 1.0, 0.0}, {1.0, 1.0, 0.0}, {1.0, 0.0, 0.0}, {0.6, 0.0, 0.0}}; + OpacityArray = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}; + }; + }; + + + BonesOpacity ={ + + GlobalCoef = 1; + + Skull = 1*GlobalCoef; + Thorax = 1*GlobalCoef; + Pelvis = 1*GlobalCoef; + Sacrum = 1*GlobalCoef; + L5 = 1*GlobalCoef; + L4 = 1*GlobalCoef; + L3 = 1*GlobalCoef; + L2 = 1*GlobalCoef; + L1 = 1*GlobalCoef; + + RightFoot = 1*GlobalCoef; + RightShank = 1*GlobalCoef; + RightThigh = 1*GlobalCoef; + + LeftFoot = 1*GlobalCoef; + LeftShank = 1*GlobalCoef; + LeftThigh = 1*GlobalCoef; + + + RightClavicula = 1*GlobalCoef; + RightScapula = 1*GlobalCoef; + RightHumerus = 1*GlobalCoef; + RightUlna = 1*GlobalCoef; + RightRadius = 1*GlobalCoef; + RightHand = 1*GlobalCoef; + + LeftClavicula = 1*GlobalCoef; + LeftScapula = 1*GlobalCoef; + LeftHumerus = 1*GlobalCoef; + LeftUlna = 1*GlobalCoef; + LeftRadius = 1*GlobalCoef; + LeftHand = 1*GlobalCoef; + + + // For leg TD only. + RightTalus = 1*GlobalCoef; + RightPatella = 1*GlobalCoef; + + LeftTalus = 1*GlobalCoef; + LeftPatella = 1*GlobalCoef; + + + // For detailed cervical model only. + C1 = 1*GlobalCoef; + C2 = 1*GlobalCoef; + C3 = 1*GlobalCoef; + C4 = 1*GlobalCoef; + C5 = 1*GlobalCoef; + C6 = 1*GlobalCoef; + C7 = 1*GlobalCoef; + }; + + + + SegmentAxes ={ + RGB ={0,0,1}; + ScaleXYZ ={0.0001,0.00001,0.00001}; + }; + BML ={ + ScaleXYZ ={0.0006,0.0006,0.0006}; + RGB = .Colors.AnyBodyBlue; + }; + JointAxesProximal = { + RGB = .Colors.AnyBodyRed; + ScaleXYZ = {0.015,0.015,0.015}; + }; + JointAxesDistal = { + RGB = .Colors.AnyBodyGreen; + ScaleXYZ = {0.01,0.01,0.01}; + }; + + + SegmentNodes ={ + ScaleXYZ ={0.0005,0.0005,0.0005}; + RGB = .Colors.AnyBodyRed; + }; + WrapGeometry ={ + RGB ={1,1,1}; + }; + + DrawSettingsSupport={ + Lin={ + ScaleFactor=0.004; + RGB = {0,0,1}; + Thickness = 0.004; + HeadThickness = 2*Thickness; + HeadLength = 3*Thickness; + }; + Rot={ + ScaleFactor=0.08; + RGB = {1,0,0}; + Thickness = 0.075; + HeadThickness = 2*Thickness; + HeadLength = 5*Thickness; + }; + }; + + + Marker={ + Color={0,0,1}; + Radius=0.00; + + }; + +}; //DrawSettings \ No newline at end of file diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/Environment.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/Environment.any new file mode 100644 index 00000000..2402d1e6 --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/Environment.any @@ -0,0 +1,25 @@ +AnyFolder Environment = { + //^ Environment files are used to include objects surrounding human, + //^ e.g. global reference frame + + AnyFixedRefFrame GlobalRef = + { + AnyDrawRefFrame drw={ScaleXYZ=0.3*{1,1,1};}; + + AnyRefNode RightFootPrint = { + //^ Positioning of the right foot. + //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS + sRel = HeelPosition; + ARel = RotMat({0,0,0}, ToeDirection, {0,10,0}); + AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};}; + }; + + AnyRefNode LeftFootPrint = { + //^ Positioning of the right foot. + //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS + sRel = HeelPosition; + ARel = RotMat({0,0,0}, ToeDirection, {0,10,0}); + AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};}; + }; + }; +}; \ No newline at end of file diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/GRFPrediction.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/GRFPrediction.any new file mode 100644 index 00000000..880f4312 --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/GRFPrediction.any @@ -0,0 +1,47 @@ + + //-------- GRFPrediction for the right leg + // See: #include "/Tools/GRFPrediction/FootPlateConditionalContact.any" + FootPlateConditionalContact GRF_Prediction_Right( + NORMAL_DIRECTION = "Y", + NUMBER_OF_NODES = 25, + NODES_FOLDER = FootNodes, + PLATE_BASE_FRAME = Main.Model.Environment.GlobalRef, + GLOBAL_REF = Main.Model.Environment.GlobalRef, + SHOW_TRIGGER_VOLUME = ON + ) = + { + CreateFootContactNodes25 FootNodes( + foot_ref=Main.HumanModel.BodyModel.Right.Leg.Seg.Foot + ) = {}; + + // Additional force plate settings + Settings = + { + LimitDistHigh = 0.025; // Vertical height + FrictionCoefficient = 0.8; + }; + }; + + + //-------- GRFPrediction for the right leg + // See: #include "/Tools/GRFPrediction/FootPlateConditionalContact.any" + FootPlateConditionalContact GRF_Prediction_Left( + NORMAL_DIRECTION = "Y", + NUMBER_OF_NODES = 25, + NODES_FOLDER = FootNodes, + PLATE_BASE_FRAME = Main.Model.Environment.GlobalRef, + GLOBAL_REF = Main.Model.Environment.GlobalRef, + SHOW_TRIGGER_VOLUME = ON + ) = + { + CreateFootContactNodes25 FootNodes( + foot_ref=Main.HumanModel.BodyModel.Left.Leg.Seg.Foot + ) = {}; + + Settings = + { + LimitDistHigh = 0.025; + FrictionCoefficient = 0.8; + }; + }; + diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/HumanRefNodes.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/HumanRefNodes.any new file mode 100644 index 00000000..3ce2213b --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/HumanRefNodes.any @@ -0,0 +1,99 @@ +AnyFolder Human_RefNodes = +{ + AnySeg& Ref_Pelvis = Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg; + Ref_Pelvis = + { + AnyRefNode CenterNode = + { + sRel = .Scale({0.0,0.0,0.0}); + AnyDrawRefFrame drw = + { + ScaleXYZ = 0.1 * {1,1,1}; + RGB = {1,0,0}; + }; + }; + }; + + AnySeg& Ref_Right_Glove = Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.Glove; + Ref_Right_Glove = + { + AnyRefNode PalmNode = + { + sRel = .Scale({0.0,0.0,0.0}); + ARel = RotMat(90*pi/180,x); + AnyDrawRefFrame drw = + { + ScaleXYZ = 0.1 * {1,1,1}; + RGB = {1,0,0}; + }; + }; + }; + + AnySeg& Ref_Left_Glove = Main.HumanModel.BodyModel.Left.ShoulderArm.Seg.Glove; + Ref_Left_Glove = + { + AnyRefNode PalmNode = + { + sRel = .Scale({0.0,0.0,0.0}); + ARel = RotMat(180*pi/180,z)*RotMat(-90*pi/180,x); + AnyDrawRefFrame drw = + { + ScaleXYZ = 0.1 * {1,1,1}; + RGB = {1,0,0}; + }; + }; + }; + + AnySeg& Ref_Right_Foot = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot; + Ref_Right_Foot = + { + AnyRefNode ToeNode = + { + //sRel = .MetatarsalJoint2Node.sRel; + //ARel = .ScalingNode.ARel; + AnyVec3 ToeNode_Avg = (.BigToeNode.sRel+ + .ToeLateralContactNode.sRel+ + .ToeMedialContactNode.sRel)/3; + + sRel = (.GroundJoint.sRel+.BigToeNode.sRel)/2; + ARel = RotMat(.HeelContactNodeLow.sRel, .BigToeNode.sRel, .ToeLateralContactNode.sRel)*RotMat(-pi/2,x); + + AnyDrawRefFrame drw = + { + ScaleXYZ = 0.1 * {1,1,1}; + RGB = {1,0,0}; + }; + + }; + }; + AnySeg& Ref_Left_Foot = Main.HumanModel.BodyModel.Left.Leg.Seg.Foot; + Ref_Left_Foot = + { + AnyRefNode ToeNode = + { + //sRel = .MetatarsalJoint2Node.sRel; + //ARel = .ScalingNode.ARel; + AnyVec3 ToeNode_Avg = (.BigToeNode.sRel+ + .ToeLateralContactNode.sRel+ + .ToeMedialContactNode.sRel)/3; + + sRel = (.GroundJoint.sRel+.BigToeNode.sRel)/2; + ARel = RotMat(.HeelContactNodeLow.sRel, .BigToeNode.sRel, .ToeLateralContactNode.sRel)*RotMat(pi/2,x); + + AnyDrawRefFrame drw = + { + ScaleXYZ = 0.1 * {1,1,1}; + RGB = {1,0,0}; + }; + + }; + }; + + AnyRefNode& Pelvis_Node = Ref_Pelvis.CenterNode; + AnyRefNode& Right_Palm_Node = Ref_Right_Glove.PalmNode; + AnyRefNode& Left_Palm_Node = Ref_Left_Glove.PalmNode; + AnyRefNode& Right_Toe_Node = Ref_Right_Foot.ToeNode; + AnyRefNode& Left_Toe_Node = Ref_Left_Foot.ToeNode; + + +}; \ No newline at end of file diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/JointsAndDrivers.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/JointsAndDrivers.any new file mode 100644 index 00000000..a79b63bf --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/JointsAndDrivers.any @@ -0,0 +1,210 @@ +AnyFolder Drivers = +{ + // Aliases for convenient referencing + AnyFolder &RefHM = Main.Model.BodyModel; + + AnyFolder &JntPos= Main.HumanModel.Mannequin.Posture; + AnyFolder &JntVel= Main.HumanModel.Mannequin.PostureVel; + + // ************************************ + // Drivers for the left & right legs + // ************************************ + + AnyStdJoint Left_Foot_Connect = + { + AnyRefFrame& base = Main.Model.FitnessMachine._ANY_INTERFACE_.Pedal___1____ANY_TOE2; + AnyRefFrame& target = Main.Model.Human_RefNodes.Left_Toe_Node; + Constraints.Reaction.Type = {On, NonNegative, On, On, On, On}; + }; + + AnyStdJoint Right_Foot_Connect = + { + AnyRefFrame& base = Main.Model.FitnessMachine._ANY_INTERFACE_.Pedal___2____ANY_TOE2; + AnyRefFrame& target = Main.Model.Human_RefNodes.Right_Toe_Node; + Constraints.Reaction.Type = {On, NonNegative, On, On, On, On}; + }; + + AnyKinEqSimpleDriver HipJointRight_Driver= + { + //AnyKinMeasureOrg &ref1 =...HumanModel.Interface.Right.HipFlexion; + //AnyKinMeasureOrg &ref2 =...HumanModel.Interface.Right.HipExternalRotation; + AnyKinMeasureOrg &ref3 = Main.HumanModel.BodyModel.Interface.Right.HipAbduction; + DriverPos= pi/180*{ + //.JntPos.Right.HipFlexion, + //.JntPos.Right.HipExternalRotation + .JntPos.Right.HipAbduction + }; + DriverVel = pi/180*{ + //.JntVel.Right.HipFlexion, + //.JntVel.Right.HipExternalRotation + .JntVel.Right.HipAbduction + }; + Reaction.Type={Off}; + }; + + AnyKinEqSimpleDriver HipJointLeft_Driver= + { + // AnyKinMeasureOrg &ref1 =...HumanModel.Interface.Left.HipFlexion; + //AnyKinMeasureOrg &ref2 =...HumanModel.Interface.Left.HipExternalRotation; + AnyKinMeasureOrg &ref3 = Main.HumanModel.BodyModel.Interface.Left.HipAbduction; + DriverPos= pi/180*{ + //.JntPos.Left.HipFlexion, + //.JntPos.Left.HipExternalRotation + .JntPos.Left.HipAbduction + }; + DriverVel = pi/180*{ + //.JntVel.Left.HipFlexion, + //.JntVel.Left.HipExternalRotation + .JntVel.Left.HipAbduction + }; + Reaction.Type={Off}; + }; + + // ************************************ + // Drivers for the trunk + // ************************************ + + AnyCylindricalJoint Pelvis_Driver = + { + AnyRefFrame &Base = Main.Model.FitnessMachine._ANY_INTERFACE_.ANY_PELVIS; + AnyRefFrame &Target = Main.Model.Human_RefNodes.Pelvis_Node; + Axis = y; + Ref = 0; + Constraints.Reaction.Type = {Off, Off, Off, Off}; + }; + + //Thorax pelvis rotation driver + AnyKinEqSimpleDriver PelvisThorax_Driver = + { + AnyKinMeasureOrg &Ref2 = Main.HumanModel.BodyModel.Interface.Trunk.PelvisThoraxLateralBending; + AnyKinMeasureOrg &Ref3 = Main.HumanModel.BodyModel.Interface.Trunk.PelvisThoraxRotation; + AnyKinMeasureOrg &Ref1 = Main.HumanModel.BodyModel.Interface.Trunk.PelvisThoraxExtension; + + DriverPos = pi/180*{ + .JntPos.PelvisThoraxLateralBending, + .JntPos.PelvisThoraxRotation, + .JntPos.PelvisThoraxExtension + }; + DriverVel = pi/180*{ + .JntVel.PelvisThoraxLateralBending, + .JntVel.PelvisThoraxRotation, + .JntVel.PelvisThoraxExtension + }; + Reaction.Type = {Off,Off,Off}; + + }; + + //Neck driver + AnyKinEqSimpleDriver NeckJntDriver = { + AnyKinMeasure &lb = Main.HumanModel.BodyModel.Interface.Trunk.SkullThoraxLateralBending; + AnyKinMeasure &ar = Main.HumanModel.BodyModel.Interface.Trunk.SkullThoraxRotation; + AnyKinMeasure &fe = Main.HumanModel.BodyModel.Interface.Trunk.SkullThoraxFlexion; + DriverPos = pi/180*{.JntPos.NeckLateralBending, .JntPos.NeckRotation, .JntPos.NeckExtension}; + DriverVel = pi/180*{.JntVel.NeckLateralBending, .JntVel.NeckRotation, .JntVel.NeckExtension}; + Reaction.Type = {Off, Off, Off}; + }; + + // ************************************ + // Drivers for the left & right arms + // ************************************ + + //Sterno clavicular joint driver + #if BM_ARM_LEFT & (BM_ARM_SHOULDER_RHYTHM == 0) + AnyKinEqSimpleDriver SCDriverLeft_Driver = + { + AnyKinMeasureOrg &ref1 =Main.HumanModel.BodyModel.Interface.Left.SternoClavicularProtraction; + AnyKinMeasureOrg &ref2 =Main.HumanModel.BodyModel.Interface.Left.SternoClavicularElevation; + + DriverPos = pi/180* + { + .JntPos.Left.SternoClavicularProtraction, + .JntPos.Left.SternoClavicularElevation + }; + + DriverVel = pi/180* + { + .JntVel.Left.SternoClavicularProtraction, + .JntVel.Left.SternoClavicularElevation + }; + + Reaction.Type = {Off,Off}; + }; + #endif + + //Sterno clavicular joint driver + #if BM_ARM_RIGHT & (BM_ARM_SHOULDER_RHYTHM == 0) + AnyKinEqSimpleDriver SCDriverRight_Driver = + { + AnyKinMeasureOrg &ref1 =Main.HumanModel.BodyModel.Interface.Right.SternoClavicularProtraction; + AnyKinMeasureOrg &ref2 =Main.HumanModel.BodyModel.Interface.Right.SternoClavicularElevation; + DriverPos = pi/180* + { + .JntPos.Right.SternoClavicularProtraction, + .JntPos.Right.SternoClavicularElevation + }; + DriverVel = pi/180* + { + .JntVel.Right.SternoClavicularProtraction, + .JntVel.Right.SternoClavicularElevation + }; + Reaction.Type = {Off,Off}; + }; + #endif + + + //Glenohumeral joint driver + AnyKinEqSimpleDriver GHDriverLeft_Driver = + { + AnyKinMeasureOrg &ref1 = Main.HumanModel.BodyModel.Interface.Left.GlenohumeralAbduction; + //AnyKinMeasureOrg &ref2 = Main.Model.HumanModel.Interface.Left.GlenohumeralFlexion; + //AnyKinMeasureOrg &ref3 = Main.Model.HumanModel.Interface.Left.GlenohumeralExternalRotation; + DriverPos = pi/180* + { + .JntPos.Left.GlenohumeralAbduction //GH joint + //.JntPos.Left.GlenohumeralFlexion, //GH joint + //.JntPos.Left.GlenohumeralExternalRotation //GH joint + }; + DriverVel = pi/180* + { + .JntVel.Left.GlenohumeralAbduction //GH joint + //.JntVel.Left.GlenohumeralFlexion, //GH joint + //.JntVel.Left.GlenohumeralExternalRotation //GH joint + }; + Reaction.Type = {Off}; + }; + + //Glenohumeral joint driver + AnyKinEqSimpleDriver GHDriverRight_Driver = + { + AnyKinMeasureOrg &ref1 = Main.HumanModel.BodyModel.Interface.Right.GlenohumeralAbduction; + //AnyKinMeasureOrg &ref2 = Main.Model.HumanModel.Interface.Right.GlenohumeralFlexion; + //AnyKinMeasureOrg &ref3 = Main.Model.HumanModel.Interface.Right.GlenohumeralExternalRotation; + DriverPos = pi/180* + { + .JntPos.Right.GlenohumeralAbduction //GH joint + //.JntPos.Right.GlenohumeralFlexion, //GH joint + //.JntPos.Right.GlenohumeralExternalRotation //GH joint + }; + DriverVel = pi/180*{ + .JntVel.Right.GlenohumeralAbduction //GH joint + //.JntVel.Right.GlenohumeralFlexion, //GH joint + //.JntVel.Right.GlenohumeralExternalRotation //GH joint + }; + Reaction.Type = {Off}; + }; + + AnyStdJoint Left_Hand_Connect = + { + AnyRefFrame& base = Main.Model.FitnessMachine._ANY_INTERFACE_.ANY_LEFT_HAND2; + AnyRefFrame& target = Main.Model.Human_RefNodes.Left_Palm_Node; + Constraints.Reaction.Type = {On, On, On, On, On, On}; + }; + + AnyStdJoint Right_Hand_Connect = + { + AnyRefFrame& base = Main.Model.FitnessMachine._ANY_INTERFACE_.ANY_RIGHT_HAND2; + AnyRefFrame& target = Main.Model.Human_RefNodes.Right_Palm_Node; + Constraints.Reaction.Type = {On, On, On, On, On, On}; + }; + +};//Drivers diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/LeftFootDrivers.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/LeftFootDrivers.any new file mode 100644 index 00000000..2416b182 --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/LeftFootDrivers.any @@ -0,0 +1,62 @@ +// AnyReacForce LeftFootReaction = { +// +// AnyKinLinear LeftFootLinMeasure = { +// AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot; +// AnyFixedRefFrame &ref2 = ....Environment.GlobalRef; +// }; +// AnyKinRotational LeftFootRotMeasure = { +// AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot; +// AnyFixedRefFrame &ref2 = ....Environment.GlobalRef; +// Type = RotVector; +// +// }; +// }; + + + + // Place the Left toe and heel on the ground + AnyKinEqSimpleDriver LToeGroundConstraint ={ + AnyKinLinear ToePos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1}; // Only the y coordinate + DriverPos = {0.0}; + DriverVel = {0}; + Reaction.Type = {Off}; // Provide ground reaction forces + + }; + + AnyKinEqSimpleDriver LHeelGroundConstraint ={ + AnyKinLinear HeelPos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.HeelJoint; + #else + AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.HeelContactNodeLow; + #endif + }; + MeasureOrganizer = {1}; // Only the y coordinate + DriverPos = {0.0}; + DriverVel = {0}; + Reaction.Type = {Off}; // Provide ground reaction forces + }; + + + // Position the Ankles Left above the z axis + AnyKinEqSimpleDriver LAnkleX = { + AnyKinLinear AnklePos = { + AnyFixedRefFrame &Ground = ....Environment.GlobalRef; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefNode &Ankle = ....BodyModel.Left.Leg.Seg.Foot.AnkleJoint; + #else + AnyRefNode &Ankle = ....BodyModel.Left.Leg.Seg.Foot.SubTalarJoint; + #endif + }; + MeasureOrganizer = {0}; // Only the x coordinate + DriverPos = {0.0}; + DriverVel = {0.0}; + Reaction.Type = {Off}; + }; + + diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/MachineOperation.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/MachineOperation.any new file mode 100644 index 00000000..193cf886 --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/MachineOperation.any @@ -0,0 +1,22 @@ +AnyFolder MachineOperation = +{ + AnyVar T_period = 1.0; + AnyVar angular_vel = 360.0 / T_period; + AnyVar phase_offset = 0; + + AnyKinEqSimpleDriver Rotation_Drv = + { + AnyRevoluteJoint& jnt = Main.Model.FitnessMachine.Mates.Hinge_MainCylinder; + DriverPos = {.phase_offset}; + DriverVel = pi/180*{-.angular_vel}; + Reaction.Type = {Off}; + }; + + AnyForce ResistanceTorque = + { + AnyVar coeff_term = 85; + AnyVar const_term = coeff_term; + AnyRevoluteJoint& jnt = Main.Model.FitnessMachine.Mates.Hinge_MainCylinder; + F = {coeff_term * sin(jnt.Pos[0]*2+pi/2) + const_term}; + }; +}; \ No newline at end of file diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/Mannequin.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/Mannequin.any new file mode 100644 index 00000000..fd81df23 --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/Mannequin.any @@ -0,0 +1,299 @@ +// Default mannequin values + +HumanModel.Mannequin = { + + Posture = { + //This controls the position of the pelvi wrt. to the global reference frame + PelvisPosX=-1.046; + PelvisPosY=1.06; + PelvisPosZ=0; + + //This controls the rotation of the pelvis wrt. to the global reference frame + PelvisRotX=0; + PelvisRotY=0; + PelvisRotZ=0; + + // These variables control the rotation of the thorax wrt the + // pelvis + PelvisThoraxExtension=0; + PelvisThoraxLateralBending=0; + PelvisThoraxRotation=0; + + NeckExtension=0; + NeckLateralBending=0; // not used when neck is switched off + NeckRotation=0; // not used when neck is switched off + + Right = { + //Arm + SternoClavicularProtraction=-23; //This value is not used for initial position + SternoClavicularElevation=11.5; //This value is not used for initial position + SternoClavicularAxialRotation=-20; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion =-0; + GlenohumeralAbduction = 10; + GlenohumeralExternalRotation = 0; + + ElbowFlexion = 110; + ElbowPronation = -20.0; + + WristFlexion =0; + WristAbduction =0; + + //Leg + HipFlexion = 20.0; + HipAbduction = 5.0; + HipExternalRotation = 10.0; + + KneeFlexion = 40.0; + + AnklePlantarFlexion =-30.0; + SubTalarEversion =0.0; + + //Detail Hand + Finger1 ={ + CMCDeviation=-20; + CMCFlexion=20; + MCPFlexion= 20; + MCPDeviation=0; + DIPFlexion=20; + }; + + Finger2 ={ + MCPFlexion=20; + PIPFlexion=20; + DIPFlexion=20; + }; + + Finger3 ={ + MCPFlexion=20; + PIPFlexion=20; + DIPFlexion=20; + }; + + Finger4 ={ + MCPFlexion=20; + PIPFlexion=20; + DIPFlexion=20; + }; + + Finger5 ={ + MCPFlexion=20; + PIPFlexion=20; + DIPFlexion=20; + }; + }; + + Left = { + //all values are set to be equal to the right side values + //feel free to change this! + + //Arm + SternoClavicularProtraction=.Right.SternoClavicularProtraction; + SternoClavicularElevation=.Right.SternoClavicularElevation; + SternoClavicularAxialRotation=.Right.SternoClavicularAxialRotation; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion = .Right.GlenohumeralFlexion ; + GlenohumeralAbduction =.Right.GlenohumeralAbduction ; + GlenohumeralExternalRotation =.Right.GlenohumeralExternalRotation ; + + ElbowFlexion = .Right.ElbowFlexion; + ElbowPronation = .Right.ElbowPronation; + + WristFlexion =.Right.WristFlexion; + WristAbduction =.Right.WristAbduction; + + //Leg + HipFlexion =.Right.HipFlexion; + HipAbduction =.Right.HipAbduction; + HipExternalRotation = .Right.HipExternalRotation; + + KneeFlexion = .Right.KneeFlexion; + + AnklePlantarFlexion = .Right.AnklePlantarFlexion ; + SubTalarEversion =.Right.SubTalarEversion; + + //Detail Hand + Finger1 ={ + CMCDeviation= ..Right.Finger1.CMCDeviation; + CMCFlexion= ..Right.Finger1.CMCFlexion; + MCPFlexion= ..Right.Finger1.MCPFlexion; + MCPDeviation= ..Right.Finger1.MCPDeviation; + DIPFlexion= ..Right.Finger1.DIPFlexion; + }; + + Finger2 ={ + MCPFlexion= ..Right.Finger2.MCPFlexion; + PIPFlexion= ..Right.Finger2.PIPFlexion; + DIPFlexion= ..Right.Finger2.DIPFlexion; + }; + + Finger3 ={ + MCPFlexion= ..Right.Finger3.MCPFlexion; + PIPFlexion= ..Right.Finger3.PIPFlexion; + DIPFlexion= ..Right.Finger3.DIPFlexion; + }; + + Finger4 ={ + MCPFlexion= ..Right.Finger4.MCPFlexion; + PIPFlexion= ..Right.Finger4.PIPFlexion; + DIPFlexion= ..Right.Finger4.DIPFlexion; + }; + + Finger5 ={ + MCPFlexion= ..Right.Finger5.MCPFlexion; + PIPFlexion= ..Right.Finger5.PIPFlexion; + DIPFlexion= ..Right.Finger5.DIPFlexion; + }; + }; + }; + + PostureVel={ + //This controls the position of the pelvi wrt. to the global reference frame + PelvisPosX=0; + PelvisPosY=0; + PelvisPosZ=0; + + //This controls the rotation of the pelvis wrt. to the global reference frame + PelvisRotX=0; + PelvisRotY=0; + PelvisRotZ=0; + + // These variables control the rotation of the thorax wrt the + // pelvis + PelvisThoraxExtension=0; + PelvisThoraxLateralBending=0; + PelvisThoraxRotation=0; + + NeckExtension=0; + NeckLateralBending=0; // not used when neck is switched off + NeckRotation=0; // not used when neck is switched off + + Right = { + //Arm + SternoClavicularProtraction=0; //This value is not used for initial position + SternoClavicularElevation=0; //This value is not used for initial position + SternoClavicularAxialRotation=0; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion =0; + GlenohumeralAbduction = 0; + GlenohumeralExternalRotation = 0; + + ElbowFlexion = 0.0; + ElbowPronation = 0.0; + + WristFlexion =0; + WristAbduction =0; + + //Leg + HipFlexion = 0.0; + HipAbduction = 0.0; + HipExternalRotation = 0.0; + + KneeFlexion = 0.0; + + AnklePlantarFlexion =0.0; + SubTalarEversion =0.0; + + //Detail Hand + Finger1 ={ + CMCDeviation=0; + CMCFlexion=0; + MCPFlexion= 0; + MCPDeviation= 0; + DIPFlexion=0; + }; + + Finger2 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger3 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger4 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger5 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + }; + + Left = { + //all values are set to be equal to the right side values + //feel free to change this! + + //Arm + SternoClavicularProtraction=.Right.SternoClavicularProtraction; + SternoClavicularElevation=.Right.SternoClavicularElevation; + SternoClavicularAxialRotation=.Right.SternoClavicularAxialRotation; ///< Only used when the clavicular axial rotation rhythm is diabled + + GlenohumeralFlexion = .Right.GlenohumeralFlexion ; + GlenohumeralAbduction =.Right.GlenohumeralAbduction ; + GlenohumeralExternalRotation =.Right.GlenohumeralExternalRotation ; + + ElbowFlexion = .Right.ElbowFlexion; + ElbowPronation = .Right.ElbowPronation; + + WristFlexion =.Right.WristFlexion; + WristAbduction =.Right.WristAbduction; + + //Leg + HipFlexion =.Right.HipFlexion; + HipAbduction =.Right.HipAbduction; + HipExternalRotation = .Right.HipExternalRotation; + + KneeFlexion = .Right.KneeFlexion; + + AnklePlantarFlexion = .Right.AnklePlantarFlexion ; + SubTalarEversion =.Right.SubTalarEversion; + + //Detail Hand + Finger1 ={ + CMCDeviation=0; + CMCFlexion=0; + MCPFlexion= 0; + MCPDeviation= 0; + DIPFlexion=0; + }; + + Finger2 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger3 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger4 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + Finger5 ={ + MCPFlexion=0; + PIPFlexion=0; + DIPFlexion=0; + }; + + }; + }; + +}; + + diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/RightFootDrivers.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/RightFootDrivers.any new file mode 100644 index 00000000..f368fcb1 --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/RightFootDrivers.any @@ -0,0 +1,33 @@ + + + +AnyKinMotion HeelFloorContraintRight = +{ + AnyFunConst Data = { Value = {-0.028, 0, 0.14}; }; + + AnyKinLinear HeelPos = + { + AnyRefFrame &FloorRef = ....Environment.GlobalRef.FloorOffset; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefFrame &HeelRef = ....BodyModel.Right.Leg.Seg.Foot.HeelJoint; + #else + AnyRefFrame &HeelRef = ....BodyModel.Right.Leg.Seg.Foot.HeelContactNodeLow; + #endif + }; +}; + + +// Place the on the ground +AnyKinMotion ToeFloorContraintRight = +{ + AnyFunConst Data = { Value = {0.0}; }; + + AnyKinLinear ToePos = + { + AnyRefFrame &Ground = ....Environment.GlobalRef.FloorOffset; + AnyRefFrame &Ball = ....BodyModel.Right.Leg.Seg.Foot.BigToeNode; + }; + MeasureOrganizer = {1}; // Only y direction +}; + + diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/RunAppSequence.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/RunAppSequence.any new file mode 100644 index 00000000..35639705 --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/Model/RunAppSequence.any @@ -0,0 +1,24 @@ + // Switch to define an automatic save of results to the Output folder +#ifndef AutoSaveOption +#define AutoSaveOption 0 +#endif + +/**Execute this operation to run the model in the intended operation sequence. +It is also possible to run operations seperately, by manual selections in the operation tree*/ +AnyOperationSequence RunApplication = { + + /*This operation calibrates the muscles in the model if these are of the type AnyMuscleModel3E. + This will just be an empty operation if the model is using a muscle type that does not require calibration.*/ + AnyOperation &CalibrationAnal = Main.HumanModel.Calibration.CalibrationSequence; + + ///This operation is the inverse dynamic analysis + AnyOperation &InvAnal=Main.Study.InverseDynamics; + + #if AutoSaveOption + /// This operation saves the output of the study to an h5 file in the Output folder + AnyOperationMacro save = { + MacroStr={ "classoperation Main.Study.Output " + strquote("Save data") + " --type=Deep" + " --file="+ strquote(ANYBODY_PATH_OUTPUT + ANYBODY_NAME_MAINFILE + ".anydata.h5")}; + }; + #endif +}; + diff --git a/AnyExp4SOLIDWORKS/Snippets/Lesson3/libdef.any b/AnyExp4SOLIDWORKS/Snippets/Lesson3/libdef.any new file mode 100644 index 00000000..6c6db036 --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/Lesson3/libdef.any @@ -0,0 +1,9 @@ +#include "../libdef.any" + +#if AMMR_VERSION_MAJOR < 2 | (AMMR_VERSION_MAJOR <= 2 & AMMR_VERSION_MINOR < 3) + +Main = { +ERROR "Wrong AMMR version. Please modify libdef.any to point to the correct AMMR (>=2.2)" +}; +#endif + diff --git a/AnyExp4SOLIDWORKS/Snippets/libdef.any b/AnyExp4SOLIDWORKS/Snippets/libdef.any new file mode 100644 index 00000000..26348d05 --- /dev/null +++ b/AnyExp4SOLIDWORKS/Snippets/libdef.any @@ -0,0 +1 @@ +#include "../../../libdef.any" diff --git a/AnyExp4SOLIDWORKS/_static/lesson1/lesson1_image1.png b/AnyExp4SOLIDWORKS/_static/lesson1/lesson1_image1.png index 365155ce..e73e241a 100644 Binary files a/AnyExp4SOLIDWORKS/_static/lesson1/lesson1_image1.png and b/AnyExp4SOLIDWORKS/_static/lesson1/lesson1_image1.png differ diff --git a/AnyExp4SOLIDWORKS/_static/lesson1/lesson1_image2.png b/AnyExp4SOLIDWORKS/_static/lesson1/lesson1_image2.png index 399db730..5e34ee34 100644 Binary files a/AnyExp4SOLIDWORKS/_static/lesson1/lesson1_image2.png and b/AnyExp4SOLIDWORKS/_static/lesson1/lesson1_image2.png differ diff --git a/AnyExp4SOLIDWORKS/_static/lesson1/lesson1_image3.png 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differ diff --git a/AnyExp4SOLIDWORKS/_static/lesson3/lesson3_image5.png b/AnyExp4SOLIDWORKS/_static/lesson3/lesson3_image5.png index 9d815e8c..4c2c572c 100644 Binary files a/AnyExp4SOLIDWORKS/_static/lesson3/lesson3_image5.png and b/AnyExp4SOLIDWORKS/_static/lesson3/lesson3_image5.png differ diff --git a/AnyExp4SOLIDWORKS/lesson1.md b/AnyExp4SOLIDWORKS/lesson1.md index 0d44c454..5ebe1dda 100644 --- a/AnyExp4SOLIDWORKS/lesson1.md +++ b/AnyExp4SOLIDWORKS/lesson1.md @@ -1,36 +1,71 @@ ::: {rst-class} break ::: -# Translating a SOLIDWORKS CAD model to AnyBody +# Translating a SOLIDWORKS CAD Model to AnyBody + +This lesson shows how to export a SOLIDWORKS assembly model into a corresponding +AnyBody Script, and describes how the model structure, part information and mate +information are translated in this process. Start by downloading the {download}`example SOLIDWORKS CAD assembly` After having downloaded and opened this model in your SOLIDWORKS environment, you will see the following image. -![SolidWorks fitnessmachine](_static/lesson1/lesson1_image1.png) +```{image} _static/lesson1/lesson1_image1.png +:alt: SolidWorks fitnessmachine +:class: bg-primary +:align: center +``` As you can see, this SOLIDWORKS assembly contains several parts and mates. The assembly has three different configurations, each managing different sets of mates. We will discuss the purpose of these different configuration settings later. -The role of the mates in this model is as follows. The ‘MainBase’ part +The role of the mates in this model is as follows: The ‘MainBase’ part should be fixed to the global origin. And the other parts should be connected to this base and each other by the mates. The total number of DOF (degrees-of-freedom) of this model should be one. -Let us try to translate this model into a corresponding AnyScript model. -If you have registered the AnyBody Exporter™ for SOLIDWORKS® -(AnyExp4SOLIDWORKS™) add-in successfully, then you will see the menu of -the AnyExp4SOLIDWORKS add-in on the SOLIDWORKS menu like this: +Let us try to translate this model into a corresponding AnyScript model. Before +exporting the model, **make sure the SOLIDWORKS assembly is set to configuration +'Mate_Config1'** by double-clicking on it in the Configuration Manager window. If you +have registered the AnyBody Exporter™ for SOLIDWORKS® (AnyExp4SOLIDWORKS™) +add-in successfully, then you will see the menu of the AnyExp4SOLIDWORKS add-in +on the SOLIDWORKS menu like this: + +```{image} _static/lesson1/lesson1_image2.png +:alt: AnyExp4SOLIDWORKS menu +:class: bg-primary +:align: center +``` + +:::{seealso} +For more informaion about the the AnyExp4SOLIDWORKS add-in, including installation instructions, +please refer the manual "AnyBody Exporter for SolidWorks". This manual can be found by opening an +AnyBody window, clikcing on 'Help' -> 'Documentation Home' in the top menu. -![AnyExp4SOLIDWORKS menu](_static/lesson1/lesson1_image2.png) +```{image} _static/lesson1/lesson1_image7.PNG +:alt: Documentation home +:class: bg-primary +:align: center +:width: 50% +``` + +This will direct you to the AnyBody manuals page where all the manuals can be found. +From there, click on the 'AnyBody Exporter for SolidWorks' to access the specific manual. +::: -Start the translation process by selecting the ‘Export to AnyScript’ -menu item. Doing this will display the following dialog. +Then start the translation process by selecting the ‘Export to AnyScript’ menu +item. Doing this will display the following dialog. -![AnyExp4SOLIDWORKS dialog](_static/lesson1/lesson1_image3.png) +```{image} _static/lesson1/lesson1_image3.png +:alt: AnyExp4SOLIDWORKS dialog +:class: bg-primary +:align: center +:width: 60% +``` In this dialog you can choose various options for the translation process such as indentation method, constraint type for mates, STL file @@ -40,7 +75,12 @@ where your files will be saved. For this tutorial we shall use the default options settings. You can change the location and the file name to be what you want for this example. -![Save as dialog](_static/lesson1/lesson1_image4.PNG) +```{image} _static/lesson1/lesson1_image4.PNG +:alt: Save as dialog +:class: bg-primary +:align: center +:width: 80% +``` If you look at the folder where you saved your own files, then you will see that there are two AnyScript files (FitnessMachine.any and @@ -51,9 +91,9 @@ Modeling System. It should look like this: ```AnyScriptDoc ... -// This AnyScript file was automatically generated by the AnyExp4SOLIDWORKS translator add-in. -// Translation date: Wed Oct 17 14:09:24 2012 -// AnyExp4SOLIDWORKS Version: 1.0.0 +/// This AnyScript file was automatically generated by the AnyExp4SOLIDWORKS translator add-in. +/// Translation date: Fri Jan 17 12:19:55 2025 +/// AnyExp4SOLIDWORKS Version: 1.3.1 Main = { #include "FitnessMachine.any" @@ -64,7 +104,19 @@ This ‘FitnessMachine.main.any’ file just includes the ‘FitnessMachine.any’ file. When you load it, you will see that several ANYSURF3 files are created from the STL files. -![Model View Fitness machine](_static/lesson1/lesson1_image5.png) +:::{note} + +At first, when you load the AnyBody model, it may appear invisible due to the +reflection of light in the model view. To make it visible, simply rotate the +model a bit. + +::: + +```{image} _static/lesson1/lesson1_image5.png +:alt: Model View Fitness machine +:class: bg-primary +:align: center +``` After loading this file, we should check which properties of the SOLIDWORKS assembly could be translated into AnyScript. These properties @@ -75,11 +127,15 @@ are: file, color) - Mate information between the different parts in the assemblies -## SOLIDWORKS assembly model structure +## SOLIDWORKS Assembly Model Structure Let us compare the SOLIDWORKS Feature Tree and the AnyBody Model Tree. -![SOLIDWORKS properties](_static/lesson1/lesson1_image6.png) ![ANYBODY model tree](_static/lesson1/lesson1_image7.PNG) +```{image} _static/lesson1/lesson1_image6.png +:alt: SOLIDWORKS/AnyBody model trees +:class: bg-primary +:align: center +``` First, the top assembly ‘FitnessMachine’ is converted into a corresponding AnyFolder object, which has the same name. All individual @@ -89,28 +145,28 @@ or AnyRefNode objects depending on whether they are fixed or attached to movable parts. Finally, there is an AnyFolder object named ‘Mates’, which contains all converted mate information. -## Part information (mass property, initial position and STL geometry file) +## Part Information (mass property, initial position and STL geometry file) If you look at the information about the -‘Main.FitnessMachine.MainBase\_\_\_1’ AnySeg object, you will see the -following piece of code. +‘Main.FitnessMachine.MainBase\_\_\_1’ AnySeg object in the file 'FitnessMachine.any', +you will see the following piece of code. ```AnyScriptDoc AnySeg MainBase___1 = { - r0 = {-0.1, 0.55, -8.455958313e-005}; + r0 = {-0.1, 0.55, -8.455958313e-05}; Axes0={ {1, 0, 0}, {0, 1, 0}, {0, 0, 1} }; Mass = 73.1179928; Jii = {6.221732725, 13.35441288, 17.11071671}; Jij = {0.5751545834, -0.0006960674174, -0.0005824144636}; - sCoM = {-0.189906896, -0.04988090848, 1.942340762e-005}; + sCoM = {-0.189906896, -0.04988090848, 1.942340762e-05}; JaboutCoMOnOff = On; AnyDrawSurf drw = { - FileName = "FitnessMachine.MainCylinder_cfg0_9c1185a5c5e9fc546128.stl"; + FileName = "FitnessMachine.MainBase_cfg0_9c1185a5c5e9fc546128.stl"; Opacity = 1; RGB = {0.9098039216, 0.4431372549, 0.03137254902}; - AnyStyleDrawMaterial1 style = + AnyStyleDrawMaterial1 style = { EnableCreasing = On; CreasingAngle = 0.524; @@ -125,9 +181,10 @@ AnySeg MainBase___1 = ``` As you can see here, mass properties, initial position & rotation and -geometry information (STL file) were translated into AnyScript. +geometry information (STL file) were translated into AnyScript containing +the same information. -## Mate information +## Mate Information Generally, all mate information in a CAD assembly model can be regarded as kinematic constraints. Based on these constraints, you can move the @@ -139,15 +196,19 @@ AnyRevoluteJoint, AnySphericalJoint.. Let us select one mate in the assembly and look at it in detail inside SOLIDWORKS. -![SolidWorks assembly](_static/lesson1/lesson1_image8.png) +```{image} _static/lesson1/lesson1_image8.png +:alt: SolidWorks assembly +:class: bg-primary +:align: center +``` The ‘Concentric11’ mate was established between MainCylinder-1 and BeamType1-2 components. In the above picture, the selected violet cylinder is included in the MainCylinder-1 component, and the selected orange point is included in the BeamType1-2 component. So this mate is the concentric mate between a point and a cylinder. This -means that the orange point (on BeamType1\<2> component) can translate and -rotate on the axis of this violet cylinder (on MainCylinder\<1>). So this +means that the orange point on BeamType1\<2> component can translate and +rotate on the axis of this violet cylinder on MainCylinder\<1>. So this mate can be translated into two linear constraints in the corresponding AnyScript model. @@ -156,7 +217,7 @@ The AnyScript code for the Concentric11 mate is as follows: ```AnyScriptDoc AnyKinEqSimpleDriver Concentric11 = { - AnyKinLinear lin = + AnyKinLinear lin = { AnyRefFrame& base = ...MainCylinder___1.FitnessMachine_Concentric11; AnyRefFrame& target = ...BeamType1___2.FitnessMachine_Concentric11; @@ -169,11 +230,16 @@ AnyKinEqSimpleDriver Concentric11 = }; ``` -Where we notice that the 'MeasureOrganizer' selects two of the three -translational measurement defined by the AnyKinLinear object. The +Where we notice that the `MeasureOrganizer` selects two of the three +translational measurements defined by the AnyKinLinear object. The following picture shows the relationship between these two components. -![SolidWorks Two components](_static/lesson1/lesson1_image9.png) +```{image} _static/lesson1/lesson1_image9.png +:alt: SolidWorks Two components +:class: bg-primary +:align: center +:width: 60% +``` Here you can see that the AnyKinLinear kinematic measure, which is defined between the ‘FitnessMachine_Concentric11’ AnyRefNode object of @@ -185,8 +251,8 @@ objects called ‘FitnessMachine_Concentric11’ on both AnySeg objects were created automatically by the translation process for the sole purpose of creating these constraints. -Finally notice that the ‘Reaction.Type’ of these constraints is ‘On’ as -default, since it has not been set by the translator. This implies that +Finally, notice that the `Reaction.Type` of these constraints is set to +‘On’ as default, since it has not been set by the translator. This implies that reaction forces associated with the constraints are indeed active. Also notice the constraint type ('CType'), which is set to parametric value, '\_ANY_CTYPE\_', defined by the translator. The parameter, diff --git a/AnyExp4SOLIDWORKS/lesson2.md b/AnyExp4SOLIDWORKS/lesson2.md index 7ce39ce9..062f7ea0 100644 --- a/AnyExp4SOLIDWORKS/lesson2.md +++ b/AnyExp4SOLIDWORKS/lesson2.md @@ -15,30 +15,28 @@ myst: ::: -# Making the translated AnyScript model move +# Making the Translated AnyScript Model Move + +As previously mentioned, the exported model comes out of SOLIDWORKS and into +AnyBody with one degree of freedom. In this lesson, we wil add a driver to this +degree of freedom to make the exercise machine move inside AnyBody. If you did not finish the previous lesson, you can download the finished AnyScript model file here: {download}`FitnessMachine\_Mate\_Config1.zip ` -## Add an AnyBodyStudy object and a kinematic motion driver - -As previously mentioned, the exported model comes out of SOLIDWORKS and -into AnyBody with one degree-of-freedom. In this lesson, we add a driver -to this degree-of-freedom and thereby make the exercise machine move -inside AnyBody. +## Add an AnyBodyStudy Object and a Kinematic Motion Driver We will make these additions to the model in the Main file, but since -‘FitnessMachine.main.any’ was generated by the AnyBody Exporter™ for -SOLIDWORKS® (AnyExp4SOLIDWORKS™) and will be overwritten next time we -update the translation, we shall make our own copy before editing. We -call this new Main file ‘My.FitnessMachine.main.any’. +‘FitnessMachine.main.any’ was generated by the AnyBody Exporter™ for SOLIDWORKS® +(AnyExp4SOLIDWORKS™) and will be overwritten next time we update the +translation, we shall make our own copy before editing. We call this new Main +file ‘My.FitnessMachine.main.any’. -The first step is to add a study object to the Main file. The study -contains the necessary operations that will perform a kinematic -analysis, which is the way how AnyBody moves the model. Let us add an -AnyBodyStudy object to make this model work for kinematic and inverse -dynamic analyses. +The first step is to add a study object to the Main file. The study contains the +necessary operations that will perform a kinematic analysis, which is how +AnyBody moves the model. Let us add an AnyBodyStudy object to make this model +work for kinematic and inverse dynamic analyses. ```AnyScriptDoc Main = @@ -52,39 +50,43 @@ Main = tEnd = 1; nStep = 101; Gravity = {0, -9.81, 0}; - }; § + };§ }; ``` -Notice how the 'FitnessMachine' folder is added by a reference so that -the study object "knows the model" that it must study. +Notice how the 'FitnessMachine' folder is added by a reference, so that the study +object "knows the model" that it must study. -The next step is to add a motion driver to determine the position of the -single degree-of-freedom at every time step and thereby the entire -mechanism. The logical and simple choice is to drive the angle of the -flywheel. As we saw before, the imported model in AnyBody is almost -completely equivalent in structure to the SOLIDWORKS model, so we can -use the latter to look for a place to attach the driver. +The next step is to add a motion driver to determine the position of the single +degree of freedom at every time step and thereby the entire mechanism. The +logical and simple choice is to drive the angle of the flywheel. As we saw +before, the imported model in AnyBody is almost completely equivalent in +structure to the SOLIDWORKS model, so we can use the latter to look for a place +to attach the driver. -![SolidWorks components](_static/lesson2/lesson2_image1.PNG) +```{image} _static/lesson2/lesson2_image1.PNG +:alt: SolidWorks components +:class: bg-primary +:align: center +``` -The ‘Concentric01’ mate is a relationship between two cylindrical faces -of the ‘MainBase\<1>’ and ‘MainCylinder\<1>’ components. This mate -contains two linear and two rotational constraints between two different -components. So this mate can still allow two degrees of freedom: 1 -translational and 1 rotational movement. Let us look the definition of -this ‘Concentric01’ mate inside AnyScript. +The ‘Concentric01’ mate is a relationship between two cylindrical faces of the +‘MainBase\<1>’ and ‘MainCylinder\<1>’ components. This mate contains two linear +and two rotational constraints between two different components. So this mate +can still allow two degrees of freedom: 1 translational and 1 rotational +movement. Let us look at the definition of this ‘Concentric01’ mate inside +`FitnessMachine.any`. ```AnyScriptDoc AnyKinEqSimpleDriver Concentric01 = { - AnyKinLinear lin = + AnyKinLinear lin = { AnyRefFrame& base = ...MainBase___1.FitnessMachine_Concentric01; AnyRefFrame& target = ...MainCylinder___1.FitnessMachine_Concentric01; Ref = 0; }; - AnyKinRotational rot = + AnyKinRotational rot = { AnyRefFrame& base = ...MainBase___1.FitnessMachine_Concentric01; AnyRefFrame& target = ...MainCylinder___1.FitnessMachine_Concentric01; @@ -100,22 +102,21 @@ AnyKinEqSimpleDriver Concentric01 = }; ``` -We can see that there is one AnyKinLinear and one AnyKinRotational -kinematic measure for this mate. The rotation is obviously related to -the AnyKinRotational object so let us use this to define a kinematic -driver. We can do this because the rotational measure 'rot' is already -measuring the angle; the 'PlanarAngles' type gives us one real angle and -two special out-of-plane measurements, which are already constrained to -be zero, i.e. in-plane, by the translated code. The remaining real -angle, i.e. the first component of the 'rot' measure, can be constrained -by a driver. We add this to the FitnessMachine AnyFolder from the Main -file. +We can see that there is one `AnyKinLinear` and one `AnyKinRotational` kinematic +measure for this mate. The rotation is obviously related to the +`AnyKinRotational` object, so let us use this to define a kinematic driver. We +can do this because the rotational measure 'rot' is already measuring the angle. +The `PlanarAngles` type gives us one real angle and two special out-of-plane +measurements, which are already constrained to be zero, i.e., in-plane, by the +translated code. The remaining real angle, i.e., the first component of the +'rot' measure, can be constrained by a driver. We add this to the AnyFolder +`FitnessMachine` from the Main file. ```AnyScriptDoc Main = { #include "FitnessMachine.any" - + §FitnessMachine = { AnyFolder Drivers = @@ -143,28 +144,30 @@ Main = If you load this modified model, you will see the following warnings. -“Model Warning: Study 'Main.Study' contains more reaction forces than -rigid-body degrees of freedom of the segments. The model may be -statically indeterminate. There are 122 reactions and only 96 rigid body -degrees of freedom.” +``` +Model Warning: Study 'Main.Study' contains more reaction forces than rigid-body degrees of +freedom of the segments. The model may be statically indeterminate. There are 122 reactions +and only 96 rigid body degrees of freedom. +``` -Also, if you try to run InverseDynamics analysis for this model, it will -cause some kinematic errors. The reason for these warnings and errors is -that there are redundant mates, i.e. there are more kinematic -constraints than necessary to constrain the model. This is generally -unsound and these additional constraints should be eliminated. There is -a simple way to try to solve this situation in AnyBody without changing -the SOLIDWORKS model. We shall try this first. +Also, if you try to run InverseDynamics analysis for this model, it will cause +some kinematic errors. The reason for these warnings and errors is that there +are redundant mates, i.e., there are more kinematic constraints than necessary +to constrain the model. This is generally unsound and these additional +constraints should be eliminated. There is a simple way to try to solve this +situation in AnyBody without changing the SOLIDWORKS model. We shall try this +first. -Firstly, we change the solver type of the AnyBodyStudy object and the -constraint type of all constraints in the translated model: +Firstly, we change the solver type of the AnyBodyStudy object, so a solver for +over-determinate problems is used. Add the following in +`MyFitnessMachine.main.any`: ```AnyScriptDoc AnyBodyStudy Study = { AnyFolder& Model = .FitnessMachine; tStart = 0; - tEnd = 2; + tEnd = 1; nStep = 101; Gravity = {0, -9.81, 0}; §InitialConditions.SolverType = KinSolOverDeterminate; @@ -172,87 +175,90 @@ AnyBodyStudy Study = }; ``` -And in the ‘FitnessMachine.any’ file we change the type of all kinematic -constraints created from mates in the SOLIDWORKS model. +And in the `FitnessMachine.any` file we change the constraint type to 'Soft' for +all kinematic constraints created from mates in the SOLIDWORKS model. ```AnyScriptDoc AnyFolder FitnessMachine = { + #if (ANYBODY_V1 > 7)|(ANYBODY_V1 == 7 & ANYBODY_V2 > 1) + AnyComponentDefinition CompDef = + { + }; + #endif + AnyKinEqType _ANY_CTYPE_ = §Soft§; ... } ``` -The significance of these new specifications is to switch to a kinematic -solver algorithm that allows violation of kinematic constraints if these -are considered soft, and therefore we define all of the constraints -indiscriminately as 'Soft'. - -After reloading the model, you may be able to run Kinematics or -InverseDynamics analysis. But this modification of solver and -constraints types ‘does not’ guarantee the successful performance of -kinematic analysis. Even if you can run your over-constrained model -successfully, there is one significant remaining problem: Generally -speaking, if there are redundant constraints in your model, it implies -that there are also redundant reaction forces in your models, since -kinematic constraints and reaction forces are connected one-to-one. In -this case, there may not be a unique solution for those unknown reaction -terms to be found by the InverseDynamics analysis. - -Having too many reactions in a rigid-body dynamics model is similar to -what is called "statically indeterminacy" in structural mechanics. To -solve such problems, you need to know about the structural deformations -to establish the reaction forces and this involves the stiffness of the -structures, which we do not have or use in the rigid-body dynamic -analysis. To make a unique solution of the forces in rigid-body -dynamics, we must reduce the constraint reactions to match the -independent set of constraints. In other words, we must remove the +The significance of these new specifications is to switch to a kinematic solver +algorithm that allows violation of kinematic constraints if these are considered +soft, and therefore we define all of the constraints indiscriminately as 'Soft'. + +After reloading the model, you may be able to run 'Kinematics' or 'InverseDynamics' +analysis, but it will give you some warnings saying the mechanical system is +kinetically over-constrained. But this modification of solver and constraints types *does not* +guarantee the successful performance of kinematic analysis. Even if you can run +your over-constrained model successfully, there is one significant remaining +problem: Generally speaking, if there are redundant constraints in your model, +it implies that there are also redundant reaction forces in your models, since +kinematic constraints and reaction forces are connected one-to-one. In this +case, there may not be a unique solution for those unknown reaction terms to be +found by the InverseDynamics analysis. + +Having too many reactions in a rigid-body dynamics model is similar to what is +called "statically indeterminacy" in structural mechanics. To solve such +problems, you need to know about the structural deformations to establish the +reaction forces and this involves the stiffness of the structures, which we do +not have or use in the rigid-body dynamic analysis. To make a unique solution of +the forces in rigid-body dynamics, we must reduce the constraint reactions to +match the independent set of constraints. In other words, we must remove the redundant constraints and thereby their reactions. -You may ask whether this is a choice of mathematical convenience for the -solvers to handle the problem? It is indeed mathematically convenient, -but it is also sound engineering practice in mechanism design not to -make you mechanisms over-constrained, not even if it is redundant -constraints. Manufacturing tolerances could make redundant constraints -actually conflict, leading to mechanism locking and extensive wear. -Therefore sound engineering design is to make sure that constraints and -reactions do not conflict and it is your task to introduce these -engineering design decisions properly into your models. - -There are two ways to approach this task: editing your AnyScript model -directly or editing your mate definitions in SOLIDWORKS and re-exporting -it. We shall here adopt the latter approach. - -## Removing redundant mates in SOLIDWORKS before doing the translation - -If your SOLIDWORKS CAD model has a very complex structure, then it may -be difficult to modify the AnyScript model to remove the redundant -constraints. Furthermore, in an interactive design process, you may wish -to work with the SOLIDWORKS model and re-export it repeatedly to -AnyBody. In this case, it is probably a better choice to solve the -redundancy problem directly in the CAD system. +You may ask whether this is a choice of mathematical convenience for the solvers +to handle the problem? It is indeed mathematically convenient, but it is also +sound engineering practice in mechanism design not to make your mechanisms +over-constrained, not even if it is redundant constraints. Manufacturing +tolerances could make redundant constraints actually conflict, leading to +mechanism locking and extensive wear. Therefore, sound engineering design is to +make sure that constraints and reactions do not conflict and it is your task to +introduce these engineering design decisions properly into your models. -For this purpose, the SOLIDWORKS example model has already been set up -with different configurations. If you open the previous -{download}`FitnessMachine\_SOLIDWORKS.zip ` -file again in SOLIDWORKS, then you can create a new configuration and -start changing its mate definitions. We have in this model file already -created two new configurations with the results of the modification we -suggest to remove kinematic redundancy. +There are two ways to approach this task: editing your AnyScript model directly +or editing your mate definitions in SOLIDWORKS and re-exporting it. We shall +here adopt the latter approach. + +## Removing Redundant Mates in SOLIDWORKS before doing the Translation -![AnyExp2Solidworks Configuration](_static/lesson2/lesson2_image2.PNG) +If your SOLIDWORKS CAD model has a very complex structure, then it may be +difficult to modify the AnyScript model to remove the redundant constraints. +Furthermore, in an interactive design process, you may wish to work with the +SOLIDWORKS model and re-export it repeatedly to AnyBody. In this case, it is +probably a better choice to solve the redundancy problem directly in the CAD +system. -![SolidWorks Tree view](_static/lesson2/lesson2_image3.PNG) +For this purpose, the SOLIDWORKS example model has already been set up +with different configurations. If you open the previous +{download}`FitnessMachine\_SOLIDWORKS.zip ` +file again in SOLIDWORKS, you will see that it already contains two new mate +configurations with the results of the modifications we suggest in order +to remove kinematic redundancy. + +```{image} _static/lesson2/lesson2_image2.PNG +:alt: AnyExp2Solidworks Configuration +:class: bg-primary +:align: center +``` -We can find the main reason of mate redundancy in SOLIDWORKS by -examining several mates, which are used between two different parts in -the assembly. +We can find the main reason for mate redundancy in SOLIDWORKS by examining +several mates, which are used between two different parts in the assembly. -Firstly, let us look at two mates at the ‘Mate_Config1’ configuration -of the top assembly. All the mates which were used in this configuration -can be classified as one of the standard mate types of SOLIDWORKS. Let -us find the mates, which are defined between the ‘MainBase\<1>’ and -‘BeamType2\<1>’ components. +**Mate configuration 1:**\ +Firstly, let us look at two mates in the ‘Mate_Config1’ configuration of the top +assembly. All the mates which were used in this configuration can be classified +as one of the standard mate types of SOLIDWORKS. Let us find the mates, which +are defined between the ‘MainBase\<1>’ and ‘BeamType2\<1>’ components. | **Mate Type** | **Mate Name in the SOLIDWORKS feature tree** | **Related Components** | **Mate Entity Types** | **Snapshot** | | ------------- | -------------------------------------------- | ---------------------- | --------------------- | ---------------- | @@ -261,20 +267,19 @@ us find the mates, which are defined between the ‘MainBase\<1>’ and | Concentric | Concentric12 | MainBase\<1> | Cylinder | {{ Matetype_2 }} | | | | BeamType2\<1> | Cylinder | | -The intention of using these two mates is to replicate a revolute -(hinge) joint between the ‘MainBase\<1>’ and ‘BeamType2\<1>’ parts. So we -used a Coincident (Plane-Plane) and a Concentric (Cylinder-Cylinder) -mate for this purpose. A Coincident (Plane-Plane) mate contains 1 linear -and 2 rotational constraints, and a Concentric (Cylinder-Cylinder) mate -contains 2 linear and 2 rotational constraints. So the sum of -constraints from these two mates is 7 constraints. But a revolute -(hinge) joint should contain 3 linear and 2 rotational constraints. So -by introducing these two mates this way, there will be 2 redundant -rotational constraints. - +The intention of using these two mates is to replicate a revolute (hinge) joint +between the ‘MainBase\<1>’ and ‘BeamType2\<1>’ parts. So we used a Coincident +(Plane-Plane) and a Concentric (Cylinder-Cylinder) mate for this purpose. A +Coincident (Plane-Plane) mate contains 1 linear and 2 rotational constraints, +and a Concentric (Cylinder-Cylinder) mate contains 2 linear and 2 rotational +constraints. So the sum of constraints from these two mates are 7 constraints. +But a revolute (hinge) joint should contain 3 linear and 2 rotational +constraints. So by introducing these two mates this way, there will be 2 +redundant rotational constraints. + +**Mate configuration 2:**\ Then, let us find the mates defined between the ‘MateBase\<1>’ and -‘BeamType2\<1>’ components in the ‘Mate_Config2’ assembly configuration -setting. +‘BeamType2\<1>’ components in the ‘Mate_Config2’ assembly configuration setting. | **Mate Type** | **Mate Name in the SOLIDWORKS feature tree** | **Related Components** | **Mate Entity Types** | **Snapshot** | | ------------- | -------------------------------------------- | ---------------------- | --------------------- | ---------------- | @@ -283,127 +288,127 @@ setting. | Concentric | Concentric_V_Beam_Back_Left | MainBase\<1> | Cylinder | {{ Matetype_4 }} | | | | BeamType2\<1> | Cylinder | | -In this ‘Mate_Config2’ configuration, we used a Coincident -(Point-Plane) and a Concentric (Cylinder-Cylinder) mate instead. A -Coincident (Point-Plane) mate contains only 1 linear constraint. So the -sum of constraints from these two mates are 5 (3 linear and 2 -rotational). Then the combination of these two mates will work the same -as a revolute joint. If you prefer to use the standard mate types of -SOLIDWORKS, then you can create revolute joints using a Coincident -(Point-Plane) and a Concentric (Cylinder-Cylinder) mate. Or you can use -a Coincident (Plane-Plane) and a Concentric (Point-Cylinder) mate -instead. - -A good feature of SOLIDWORKS, is that SOLIDWORKS can handle some amount -of redundant mates if they are well defined, but since we are really -interested in the reaction forces of your mechanism, then it is -important for us to eliminate the redundancy of mates in the models -completely. - -In the second configuration, ‘Mate_Config2’, we have applied more -similar changes until the model is well-defined without redundant -constraints. Basically almost all joints in the model are hinges from a -first look and therefore they all need to be reduced to having only five -constraints, like explained above. However, it turns out that this is -not enough to remove redundancy. What is still missing is that we have -closed loops, and making a closed loop with only hinges only works here -because all hinges are parallel. In other words, we have a planar -mechanism, but if the hinges were not parallel the mechanism would be -locked or maybe not even possible to assemble. Some of the "hinges" have -here been further reduced so they match what in AnyBody is called a -trans-spherical joint (AnyTransSphericalJoint), i.e., a spherical joint -which also allows one translation, here along the hinge axis. These -joint have only two translational constraints, which implies that they -do not carry moments or an axial force. - -The selection of these reduced joints, has been made based on the actual -joints in the machine, or the assumed actual joints, since this is -constructed case. So the "strong" hinge with good hinge bearings are -made as real hinges, while "less strong" joints with clearances and -simpler bearings are made as trans-spherical joints. - -In the SolidWork assembly, ‘Mate_Config2’, you can see our choices. We -have tried to make it visible by making the "real hinges" with a real -cylindrical part fitting a cylindrical hole, whereas the "reduced -hinges" have a reduced graphical representation like empty holes or -nothing. - -There is a slightly alternative way to reduce mate redundancy. You can -use some of the mechanical mate types of SOLIDWORKS. Let us change the -assembly configuration to ‘Mate_Config3’ as follows. Here we have -entered topologically the same joint configuration as in -‘Mate_Config2’, but using the mechanical mates as much as possible. We -have named the mates according to the joint type we want to realize. The -trans-spherical joint type does not exist in SOLIDWORKS, so this has -been created with standard mates as in ‘Mate_Config2’. - -![AnyExp2Solidworks Config 2](_static/lesson2/lesson2_image7.PNG) - -![Solidworks tree 2](_static/lesson2/lesson2_image8.PNG) - -As you can see in ‘Mate_Config3’, the usage of Hinge mates reduces the -total number of mates because a hinge mate requires four mate entities -when it is defined with standard mates. The trans-spherical constraint -is however realized simply by a Concentric(Point-Cylinder) mate. It will -work the same as the AnyTransShericalJoint in AnyBody, but the -AnyExp4SOLIDWORKS translator does not realize that it is a joint and -will only make a simple object with kinematic constraints as we saw in -Lesson 1. - -We prefer the solution in ‘Mate_Config3’, since this approach is closer -to concepts we normally use with AnyBody, but ‘Mate_Config2’ and -‘Mate_Config3’ are mechanically equivalent. - -## Translate a SOLIDWORKS assembly which doesn’t have any redundant mates - -Let us translate the assembly under the ‘Mate_Config3’ configuration -into an AnyScript model by using AnyExp4SOLIDWORKS like you did in -Lesson 1. You can now open the model with the newly generated -‘FitnessMachine.main.any’ file, where you will see the model or you can -open your own version ‘My.FitnessMachine.main.any’ file where you added -the study object and the rotation driver. The latter model will now -work, i.e., you can run the 'Kinematics' operation in the 'Study', and -it will do one revolution of the machine. You can also run the -'InverseDynamics' without any complaints. - -In order to do a simple review of the degrees of freedom of the -translated model try removing the driver, or just add the study to the -generated ‘FitnessMachine.main.any’, so you load a file like this: - -```AnyScriptDoc -Main = -{ - #include "FitnessMachine.any" +In this ‘Mate_Config2’ configuration, we used a Coincident (Point-Plane) and a +Concentric (Cylinder-Cylinder) mate instead. A Coincident (Point-Plane) mate +contains only 1 linear constraint. So the sum of constraints from these two +mates are 5 (3 linear and 2 rotational). Then the combination of these two mates +will work the same as a revolute joint. If you prefer to use the standard mate +types of SOLIDWORKS, then you can create revolute joints using a Coincident +(Point-Plane) and a Concentric (Cylinder-Cylinder) mate. Or you can use a +Coincident (Plane-Plane) and a Concentric (Point-Cylinder) mate instead. + +A good feature of SOLIDWORKS, is that SOLIDWORKS can handle some amount of +redundant mates if they are well defined, but since we are really interested in +the reaction forces of your mechanism, then it is important for us to eliminate +the redundancy of mates in the models completely. + +In the second configuration, ‘Mate_Config2’, we have applied more similar +changes until the model is well-defined without redundant constraints. Basically +almost all joints in the model are hinges from a first look and therefore they +all need to be reduced to having only five constraints, like explained above. +However, it turns out that this is not enough to remove redundancy. What is +still missing is that we have closed loops, and making a closed loop with only +hinges only works here because all hinges are parallel. In other words, we have +a planar mechanism, but if the hinges were not parallel the mechanism would be +locked or maybe not even possible to assemble. Some of the "hinges" have here +been further reduced so they match what in AnyBody is called a trans-spherical +joint (AnyTransSphericalJoint), i.e., a spherical joint which also allows one +translation, here along the hinge axis. These joints have only two translational +constraints, which implies that they do not carry moments or an axial force. + +The selection of these reduced joints, has been made based on the actual joints +in the machine, or the assumed actual joints, since this is a constructed case. +So the "strong" hinge with good hinge bearings are made as real hinges, while +"less strong" joints with clearances and simpler bearings are made as +trans-spherical joints. + +In the SOLIDWORKS assembly, ‘Mate_Config2’, you can see our choices. We have +tried to make it visible by making the "real hinges" with a real cylindrical +part fitting a cylindrical hole, whereas the "reduced hinges" have a reduced +graphical representation like empty holes or nothing. + +**Mate configuration 3:**\ +There is a slightly alternative way to reduce mate redundancy. You can use some +of the mechanical mate types of SOLIDWORKS. Let us change the assembly +configuration to ‘Mate_Config3’ as follows. Here we have entered topologically +the same joint configuration as in ‘Mate_Config2’, but using the mechanical +mates as much as possible. We have named the mates according to the joint type +we want to realize. The trans-spherical joint type does not exist in SOLIDWORKS, +so this has been created with standard mates as in ‘Mate_Config2’. + +```{image} _static/lesson2/lesson2_image7.PNG +:alt: AnyExp2Solidworks Config 2 +:class: bg-primary +:align: center +``` - §AnyBodyStudy Study = - { - AnyFolder& Model = .FitnessMachine; - tStart = 0; - tEnd = 1; - nStep = 101; - Gravity = {0, -9.81, 0}; - }; § -}; +As you can see in ‘Mate_Config3’, the usage of Hinge mates reduces the total +number of mates because a hinge mate requires four mate entities when it is +defined with standard mates. The trans-spherical constraint is however realized +simply by a Concentric (Point-Cylinder) mate. It will work the same as the +AnyTransShericalJoint in AnyBody, but the AnyExp4SOLIDWORKS translator does not +realize that it is a joint and will only make a simple object with kinematic +constraints as we saw in Lesson 1. + +We prefer the solution in ‘Mate_Config3’, since this approach is closer to +concepts we normally use with AnyBody, but ‘Mate_Config2’ and ‘Mate_Config3’ are +mechanically equivalent. + +## Translate a SOLIDWORKS Assembly which does not have any Redundant Mates + +Let us translate the assembly under the ‘Mate_Config3’ configuration into an +AnyScript model by using AnyExp4SOLIDWORKS like you did in Lesson 1. You can now +open the model with the newly generated ‘FitnessMachine.main.any’ file, where +you will see the model. Or you can replace the ‘FitnessMachine.any’ file and +all the STl files with the newly created ones, and open your own version of the +main file, ‘My.FitnessMachine.main.any’, where you added the study object and the +rotation driver. Since the mate configurations in `Fitnessmachine.any` have been +changed, you need to update the inserted driver to the following: + +```{literalinclude} Snippets/Lesson2/MyFitnessMachine.main.any +:language: AnyScriptDoc +:start-after: //# BEGIN SNIPPET 1 +:end-before: //# END SNIPPET 1 ``` -When you load this model, then you will see the following warning -message: +This model will now work, i.e., you can load it, run the 'Kinematics' operation +in the 'Study', and it will do half a revolution of the machine. You can also +run the 'InverseDynamics' but this will give you the following warning and +notice: -*Model Warning: Study 'Main.Study' contains too few kinematic -constraints to be kinematically determinate.* +```none +WARNING(OBJ.MCH.MUS1): MyFitnessMachine.main.any(27): Study: The muscles in the model are +not loaded due to kinetically over-constrained mechanical system. -Let us see the object description of the AnyBodyStudy object. +NOTICE(OBJ1): MyFitnessMachine.main.any(27): Study.InverseDynamics: No muscles or other +recruited actuators in the model. +``` -![AnyBody Study object description](_static/lesson2/lesson2_image9.PNG) +The warning is sent because the model contains the same number of independent +reaction forces as degrees of freedom. Meaning that these reaction forces carry +all directions of the applied load, and if any muscles were added to the model, +they would not carry any loads and thus would not be loaded at all. The notice +says that the model contains no muscles or other recruited actuators, which +entails that we can accept and ignore the warning. + +We can now do a simple review of the degrees of freedom of the translated model. +Load the model and double-click on 'Study' in the model tree to see the object +description of the AnyBodyStudy object. + +```{image} _static/lesson2/lesson2_image9.PNG +:alt: AnyBody Study object description +:class: bg-primary +:align: center +``` -This assembly contains 16 components, i.e. segments. So this assembly -has a total 96 degrees of freedom when disregarding the constraints. But -then a total number of constraints from the mates of 95 is removed, -which means that only 1 degree of freedom is left. This is as expected -for the mechanism and this is the degree of freedom driven by the -driver, we have previously added. +This assembly contains 16 components, i.e., segments. So this assembly has a +total of 96 degrees of freedom when disregarding the constraints. It also +contains a total of 96 kinematic constraints from the mates and the inserted +driver. Since the driver only constrains one degree of freedom, the total number +of constraints for the exercise machine is 95, and the one 'free' degree of +freedom for the machine is driven by the inserted driver. You can successfully run the 'Kinematics' and 'InverseDynamics' -operations of the AnyBodyStudy object and we are now ready to adding the +operations of the AnyBodyStudy object and we are now ready to add the human to the model in the final {doc}`Lesson 3 `. diff --git a/AnyExp4SOLIDWORKS/lesson3.md b/AnyExp4SOLIDWORKS/lesson3.md index 0dccb733..3221ba43 100644 --- a/AnyExp4SOLIDWORKS/lesson3.md +++ b/AnyExp4SOLIDWORKS/lesson3.md @@ -1,55 +1,56 @@ ::: {rst-class} break ::: -# Creating human-machine integrated analysis model +# Creating Human-Machine Integrated Analysis Model -If you did not finish the previous lesson, please download the -{download}`FitnessMachine\_Mate\_Config3.zip ` file in order to get the correct set of files for starting this lesson. +In this lesson, we will create a model with a human body using a template. We +will then add the fitness machine created in the previous lesson and connect the +human body to the fitness machine. -In this lesson, we will create a model with a human body using a -template; we will add the fitness machine created in the previous lesson -and then connect the human body to the fitness machine. +If you did not finish the previous lesson, please download the +{download}`FitnessMachine_Mate_Config3.zip ` +file in order to get the correct set of files for starting this lesson. -## Create a human model from a main file template +## Create a Human Model from a Main File Template -First, let us start a new human model from a template which we will call -‘FitnessMachine_With_Human’ using the main file template menu from the -AnyBody GUI. +First, let us start a new human model from the template 'HumanStanding' which +we will call "FitnessMachine_With_Human" and place in the same folder as our +Fitness Machine model. Do this by clicking on 'New from Template' under 'File' +in the top menu. -![Human template dialog](_static/lesson3/lesson3_image1.png) +```{image} _static/lesson3/lesson3_image1.png +:alt: Human template dialog +:align: center +:width: 60% +``` -After we create the model, we should make sure that the definitions in -the libdef.any files are set to use the right body model as explained in -the tutorial ‘Getting Started with AMMR’. When we load this model, we -can see that we have a standing full human body model. +After we create the model, we should make sure that the definitions in the +`libdef.any` files are set to use the right body model as explained in the +tutorial {doc}`Getting Started <../A_Getting_started/lesson1>`. When we load +this model, we can see that we have a standing full human body model. -![Model view Full body](_static/lesson3/lesson3_image2.png) +```{image} _static/lesson3/lesson3_image2.png +:alt: Model view Full body +:align: center +``` To keep things simple, start by switching off the muscles by setting the -BM statement for the muscle definitions of arms, legs and trunk in our -new created file ‘FitnessMachine_With_Human.main.any’ to -`_MUSCLES_NONE_`: +BM statements for the muscle definitions of arms, legs and trunk to +`_MUSCLES_NONE_`. Add the following in `Model/BodyModelConfiguration.any`: ```AnyScriptDoc -#include "../libdef.any" - -Main = -{ +... - // Body Model configuration: - #include "Model/BodyModelConfiguration.any" +#define BM_MANNEQUIN_DRIVER_DEFAULT ON - // Using your own Mannequin.any file in the Model folder of your model - #include "Model\Mannequin.any" +// Enable the TLEM2 lower extremity model +#define BM_LEG_MODEL _LEG_MODEL_TLEM2_ - // Switch off all muscles of the body model - §#define BM_LEG_MUSCLES_BOTH _MUSCLES_NONE_ - #define BM_TRUNK_MUSCLES _MUSCLES_NONE_ - #define BM_ARM_MUSCLES_BOTH _MUSCLES_NONE_§ +// Switch off all muscles of the body model +§#define BM_LEG_MUSCLES_BOTH _MUSCLES_NONE_ +#define BM_TRUNK_MUSCLES _MUSCLES_NONE_ +#define BM_ARM_MUSCLES_BOTH _MUSCLES_NONE_§ - // Include default human model - #include "\HumanModel.any" - ... ``` Next, we will equip the model with a center of mass (CoM) of the human model. @@ -64,91 +65,95 @@ Furthermore, we will extend the human model with reference frames attached to the human segments for interfacing with the machine. This will of course be done at the hands and feet, but also at the pelvis, which we may want to control. We add nodes (AnyRefNode) at the palms of -the hands, the toes of the feet and at the center of the pelvis. Please +the hands, the toes of the feet, and at the center of the pelvis. Please see {download}`HumanRefNodes.any `. -Please save these files in the Model subfolder and let us edit the main file -in order to include these additional AnyScript files like this: +Please save these files in the Model subfolder and let us include them in the +`AnyFolder Model` by editing the main file. ```AnyScriptDoc - AnyFolder Model = - { - // A link to the human model - AnyFolder &BodyModel = .HumanModel.BodyModel; - AnyFolder &DefaultMannequinDrivers = .HumanModel.DefaultMannequinDrivers; +// Compose the model used by the study +AnyFolder Model = +{ + AnyVector CenterOfMassXZ = {0,0}; + + // Definition for CoM(Center of Mass) of Human Model + §#include "Model\CoM_View.any"§ - // Definition for CoM(Center of Mass) of Human Model - §#include "Model\CoM_View.any"§ + // Definition of additional AnyRefNode object in the human model + §#include "Model\HumanRefNodes.any"§ - // Definition of additional AnyRefNode object in the human model - §#include "Model\HumanRefNodes.any"§ ... - }; + ``` -If you reload the model, then you will see the dummy CoM segment and +If you reload the model, you will see the dummy CoM segment and some AnyRefNode objects like this: -![Model view Rear Fullbody without muscles](_static/lesson3/lesson3_image3.png) +```{image} _static/lesson3/lesson3_image3.png +:alt: Model view Rear Fullbody without muscles +:align: center +``` -## Insert the fitness machine into the model +## Insert the Fitness Machine into the Model We are now ready to include the fitness machine. The first step is to copy the fitness machine we created in the previous lesson to the Input subfolder of our model. Next, we will add the fitness machine to the -model by including the ‘FitnessMachine.any’ file again. You should put -all the files (including FitnessMachine.any file) from the previous -lesson into the Input subfolder of your model which is created by the -template. In addition, we will modify the predefined AnyBodyStudy object -like we did in Lesson 2 to prepare for an actual dynamic analysis. +model by including the `FitnessMachine.any` file to the `AnyFolder Model`. +You should put all the files (including the FitnessMachine.any file) from the +previous lesson into the Input subfolder of your model which is created by +the template. ```AnyScriptDoc +// Compose the model used by the study AnyFolder Model = - { - // A link to the human model - AnyFolder &BodyModel = .HumanModel.BodyModel; - AnyFolder &DefaultMannequinDrivers = .HumanModel.DefaultMannequinDrivers; - - // Definition for CoM(Center of Mass) of Human Model + { + AnyVector CenterOfMassXZ = {0,0}; + + // Definition for CoM(Center of Mass) of Human Model #include "Model\CoM_View.any" + + // Definition of additional AnyRefNode object in the human model + #include "Model\HumanRefNodes.any" + + // AnyScript file for the fitness machine from SolidWorks + §#include "Input\FitnessMachine.any"§ - // Definition of additional AnyRefNode object in the human model - #include "Model\HumanRefNodes.any" - - // AnyScript file for the fitness machine from SolidWorks - §#include "Input\FitnessMachine.any"§ +``` - // Environment files are used to include objects surrounding human - #include "Model\Environment.any" +In addition, we will modify the predefined `AnyBodyStudy` object +like we did in Lesson 2 to prepare for an actual dynamic analysis. - AnyFolder ModelEnvironmentConnection = - { - //'JointsAndDrivers.any' file can include all kinematic constraints such as joints and drivers - #include "Model\JointsAndDrivers.any" - // Additional reactions which are required to run the inverse dynamics analysis - #include "Model\Reactions.any" - }; - }; +```AnyScriptDoc +AnyBodyStudy Study = +{ + // Include the Model within the Study + AnyFolder &Model = .Model; + + Gravity={0.0, -9.81, 0.0}; + §tStart = 0; + tEnd = 1; § + nStep = §61§; + + // Overdeterminate solver is needed while using the + // soft default mannequin drivers. + Kinematics.SolverType = KinSolOverDeterminate; + InitialConditions.SolverType = Kinematics.SolverType ; +}; - AnyBodyStudy Study = - { - AnyFolder& Model = .Model; - - Gravity = {0, -9.81, 0}; - §tStart = 0; - tEnd = 1; § - nStep = §61;§ - // Overdeterminate solver is needed while using the - // soft default mannequin drivers. - Kinematics.SolverType = KinSolOverDeterminate; - InitialConditions.SolverType = Kinematics.SolverType ; - }; ``` +:::{note} +At first, when you load the AnyBody model with the fitness machine included, it +may appear invisible due to the reflection of light in the model view. To make +it visible, simply rotate the model a bit. +::: + Similar to the previous lesson, we will add a driver for the fitness machine to make the model kinematically determinate. To do this, we can use the {download}`MachineOperation.any ` file which -defines the drivers we created in Lesson 2. +defines drivers similar to what we created in Lesson 2. ```AnyScriptDoc AnyFolder MachineOperation = @@ -173,156 +178,182 @@ AnyFolder MachineOperation = F = {coeff_term * sin(jnt.Pos[0]*2+pi/2) + const_term}; }; }; + ``` -We will copy this file to the Model subfolder of our model and include it -into our model. +Save this file in the Model subfolder and include it +in `AnyFolder Model`. ```AnyScriptDoc AnyFolder Model = - { - // A link to the human model - AnyFolder &BodyModel = .HumanModel.BodyModel; - AnyFolder &DefaultMannequinDrivers = .HumanModel.DefaultMannequinDrivers; + { + AnyVector CenterOfMassXZ = {0,0}; // Definition for CoM(Center of Mass) of Human Model #include "Model\CoM_View.any" - - // Definition of additional AnyRefNode object in the human model - #include "Model\HumanRefNodes.any" - // AnyScript file for the fitness machine from SolidWorks - #include "Input\FitnessMachine.any" - - // Environment files are used to include objects surrounding human - #include "Model\Environment.any" - + ... + AnyFolder ModelEnvironmentConnection = { - //'JointsAndDrivers.any' file can include all kinematic constraints such as joints and drivers - #include "Model\JointsAndDrivers.any" - // Additional reactions which are required to run the inverse dynamics analysis - #include "Model\Reactions.any" + // This file contains all contraints to simulate the standing human + #include "Model/JointsAndDrivers.any" + + // Ground reaction force prediction + #include "Model/GRFPrediction.any" + // Include drivers of the fitness machine §#include "Model\MachineOperation.any"§ }; }; + ``` -Notice that the drivers have been placed in a separate folder called ' -ModelEnvironmentConnection'. This is a typical setup used in most +Notice that the drivers have been placed in a separate folder called +`ModelEnvironmentConnection`. This is a typical setup used in most models. When we now load the model, we will see that our human is positioned forward of the -machine. We need to change his position so it is relative to the fitness machine. +machine. We need to change its position so it is relative to the fitness machine. We do this by changing the mannequin of the model. Since we do not want to spend too much time positioning the human model in this tutorial, we -will use the file {download}`Mannequin.any `. Copy the file to the Model subfolder -to overwrite it. +will use the file {download}`Mannequin.any `. Save +the file in the Model subfolder to overwrite the existing 'Mannequin.any' file. -When we now load the model and run the Kinematics, we will see that our -human is located on the fitness machine and the machine is moving. Now, -the only thing missing is to connect our body model to the machine. +When we now load the model, we will see that our human is located on the fitness +machine, and if we run the 'Kinematics' operation the machine is moving but the +human does not follow the movement. Now, the only thing missing is to connect our body model +to the machine. -## Connecting human model and fitness machine +## Connecting Human Model and Fitness Machine -The first thing we have to do to connect our human with the machine is +The first step to connect our human with the machine is to undefine the default drivers of the human model. We do this by -setting a BM statement in the Main folder: +changing a BM statement in the folder `Model/BodyModelConfiguration.any`: ```AnyScriptDoc -#include "../libdef.any" +#path __BM_PLUGIN_FILE__ "BodyModelConfiguration.any" +#define BM_CONFIG_PLUGIN __BM_PLUGIN_FILE__ -Main = -{ +#define BM_MANNEQUIN_DRIVER_DEFAULT §OFF§ - // Body Model configuration: - #include "Model/BodyModelConfiguration.any" +// Enable the TLEM2 lower extremity model +#define BM_LEG_MODEL _LEG_MODEL_TLEM2_ + +// Switch off all muscles of the body model +#define BM_LEG_MUSCLES_BOTH _MUSCLES_NONE_ +#define BM_TRUNK_MUSCLES _MUSCLES_NONE_ +#define BM_ARM_MUSCLES_BOTH _MUSCLES_NONE_ + +``` - // Using your own Mannequin.any file in the Model folder of your model - #include "Model\Mannequin.any" +For the model to be able to load now, we have to exclude some definitions. +Go to the file `Model/JointsAndDrivers.any` and comment out the following +lines: + +```AnyScriptDoc +#ifndef EXCLUDE_COM_BALANCE_DRIVERS - // Switch off all muscles of the body model - #define BM_LEG_MUSCLES_BOTH _MUSCLES_NONE_ - #define BM_TRUNK_MUSCLES _MUSCLES_NONE_ - #define BM_ARM_MUSCLES_BOTH _MUSCLES_NONE_ - // Switch of the default drivers - §#define BM_MANNEQUIN_DRIVER_DEFAULT OFF§ - - // Include default human model - #include "\HumanModel.any" - ... + ... + + Main.Model.DefaultMannequinDrivers.DefaultWeakDriverWeight = 0.01; + §//Main.Model.DefaultMannequinDrivers.AnkleDriverLeftFlexion.WeakDriverWeight = 0.001; + //Main.Model.DefaultMannequinDrivers.AnkleDriverRightFlexion.WeakDriverWeight = 0.001;§ +#endif + ``` -When you load this model, you will see the following warning message: +```AnyScriptDoc +#ifndef EXCLUDE_FOOT_CONSTRAINTS + + §// Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosX.WeakDriverWeight = 0; + // Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosY.WeakDriverWeight = 0; + // Main.Model.DefaultMannequinDrivers.PelvisGroundDriverPosZ.WeakDriverWeight = 0; + // Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotX.WeakDriverWeight = 0; + // Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotY.WeakDriverWeight = 0; + // Main.Model.DefaultMannequinDrivers.PelvisGroundDriverRotZ.WeakDriverWeight = 0;§ + + ... + +``` + +These lines define some default mannequin driver values, but since we have +undefined the default drivers of the model, these values do not exist anymore. + +When you load the model now, you will see the following warning message: ```none Model Warning: Study 'Main.Study' contains too few kinematic constraints to be kinematically determinate. ``` -If you look at the Object Description of your AnyBodyStudy object, you -can find the information about the number of DOFs and constraints of the -model. +If you look at the Object Description of your AnyBodyStudy object by double-clicking +on 'Study' in the model tree, you can find the information about the number of DOF's +and constraints of the model. ```none Total number of rigid-body d.o.f.: 414 Total number of constraints: -Joints: 264 -Drivers: 98 -Other: 10 -Total: 372 +Joints: 246 +Drivers: 100 +Other: 38 +Total: 384 ``` -This means that we are missing 42 constraints. These were the degrees +This means that we are missing 30 constraints. These were the degrees of freedom released when we removed the default drivers. -This implies that the AnyBody human model contains 42 -degrees of freedom. So we have to define 42 other constraints for the human +This implies that the AnyBody human model contains 30 +degrees of freedom. So we have to define 30 other constraints for the human model. The AnyExp4SOLIDWORKS translator searches for user-defined reference entities with a certain prefix. You select the prefix in the options dialog for the translator. We will use some of these reference systems for interfacing. In this model you can find this information in the -‘FitnessMachine.any’ file or simply in the Model Tree of the loaded -model. +`FitnessMachine.any` file or simply in the Model Tree of the loaded +model. Uncomment the following lines in the `FitnessMachine.any` file: ```AnyScriptDoc AnyFolder FitnessMachine = -{ - AnyKinEqType _ANY_CTYPE_ = Hard; - - AnyFolder _ANY_INTERFACE_ = { - //LIST OF USER-DEFINED REFERENCE COORDINATE SYSTEMS - § AnyRefFrame& Pedal___1____ANY_TOE1 = .Pedal___1.ANY_TOE1; - AnyRefFrame& Pedal___1____ANY_CENTER = .Pedal___1.ANY_CENTER; - AnyRefFrame& Pedal___1____ANY_TOE2 = .Pedal___1.ANY_TOE2; - AnyRefFrame& Pedal___2____ANY_TOE1 = .Pedal___2.ANY_TOE1; - AnyRefFrame& Pedal___2____ANY_CENTER = .Pedal___2.ANY_CENTER; - AnyRefFrame& Pedal___2____ANY_TOE2 = .Pedal___2.ANY_TOE2; - AnyRefFrame& ANY_LEFT_HAND1 = .Handle___1.ANY_LEFT_HAND1; - AnyRefFrame& ANY_LEFT_HAND2 = .Handle___1.ANY_LEFT_HAND2; - AnyRefFrame& ANY_RIGHT_HAND1 = .Handle___2.ANY_RIGHT_HAND1; - AnyRefFrame& ANY_RIGHT_HAND2 = .Handle___2.ANY_RIGHT_HAND2; - AnyRefFrame& ANY_PELVIS = .MainBase___1.ANY_PELVIS; § - //LIST OF USER-DEFINED REFERENCE COORDINATE SYSTEMS - }; + AnyKinEqType _ANY_CTYPE_ = Hard; + + AnyFolder _ANY_INTERFACE_ = + { + ////LIST OF USER-DEFINED REFERENCE COORDINATE SYSTEMS + §AnyRefFrame& Pedal___1____ANY_TOE1 = .Pedal___1.ANY_TOE1; + AnyRefFrame& Pedal___1____ANY_CENTER = .Pedal___1.ANY_CENTER; + AnyRefFrame& Pedal___1____ANY_TOE2 = .Pedal___1.ANY_TOE2; + AnyRefFrame& ANY_LEFT_HAND1 = .Handle___1.ANY_LEFT_HAND1; + AnyRefFrame& ANY_LEFT_HAND2 = .Handle___1.ANY_LEFT_HAND2; + AnyRefFrame& ANY_PELVIS = .MainBase___1.ANY_PELVIS; + AnyRefFrame& ANY_RIGHT_HAND1 = .Handle___2.ANY_RIGHT_HAND1; + AnyRefFrame& ANY_RIGHT_HAND2 = .Handle___2.ANY_RIGHT_HAND2; + AnyRefFrame& Pedal___2____ANY_TOE1 = .Pedal___2.ANY_TOE1; + AnyRefFrame& Pedal___2____ANY_CENTER = .Pedal___2.ANY_CENTER; + AnyRefFrame& Pedal___2____ANY_TOE2 = .Pedal___2.ANY_TOE2;§ + ////LIST OF USER-DEFINED REFERENCE COORDINATE SYSTEMS + }; + ``` -Now we will create the missing 42 constraints to govern the motion. +Now we will create the missing 30 constraints to govern the motion. -We shall prepare this as a separate AnyScript file, which we will name -‘JointsAndDrivers.any’. You can download this file here: -{download}`JointsAndDrivers.any `. And put it into -the Model subfolder of your model folder to overwrite. Starting from the bottom -of the human (the top of the file) the constraints applied are as follows: +We will prepare this as a separate AnyScript file, which we will name +"JointsAndDrivers.any". You can download this file here +{download}`JointsAndDrivers.any ` and save it into +the Model subfolder to overwrite the existing file. Starting from +the bottom of the human (which is the top of the file) the constraints applied are as +follows: -- Feet are fixed to the pedals, though with a unilateral force normal to the pedal, since the feet are not “glued” to the pedal. +- Feet are fixed to the pedals, though with a unilateral force normal to the + pedal, since the feet are not “glued” to the pedal. - Hip abduction is fixed at its initial condition value. -- Pelvis is constrained to the fitness machine with a cylindrical joint along the vertical axis. +- Pelvis is constrained to the fitness machine with a cylindrical joint along + the vertical axis. - Pelvis thorax angles are driven to their initial condition values. - Neck rotation angles are driven to their initial condition values. -- The sterno-clavicular joint angles are fixed at their initial condition values (however, if the shoulder rhythm is used, this driver is excluded). +- The sterno-clavicular joint angles are fixed at their initial condition values + (however, if the shoulder rhythm is used, this driver is excluded). - Glenohumeral abduction is fixed at its initial condition value. - Hands are fixed to the handles. @@ -334,62 +365,63 @@ produced by the muscles of the human. Finally, we should remove the supporting reaction forces and moments at the hip segments because this model now has enough supporting forces -and moments at hands and feet. You can simply just comment out the -“Reactions.any” file as follows: +and moments at the hands and feet. You can simply just comment out the +`GRFPrediction.any` file in `FitnessMachine_With_Human.main.any`. ```AnyScriptDoc ... - AnyFolder ModelEnvironmentConnection = - { - //'JointsAndDrivers.any' file can include all kinematic constraints such as joints and drivers - #include "Model\JointsAndDrivers.any" - // Additional reactions which are required to run the inverse dynamics analysis - § //#include "Model\Reactions.any"§ - // Include drivers of the fitness machine - #include "Model\MachineOperation.any" - }; +AnyFolder ModelEnvironmentConnection = +{ + // This file contains all contraints to simulate the standing human + #include "Model/JointsAndDrivers.any" + + // Ground reaction force prediction + §// #include "Model/GRFPrediction.any"§ + + // Include drivers of the fitness machine + #include "Model\MachineOperation.any" +}; ... + ``` -Now you can load the model, and if you run the “InitialConditions” or -the “Kinematics” operation of the AnyBodyStudy object, you will see that +Now you can load the model, and if you run the 'InitialConditions' or +the 'Kinematics' operation of the AnyBodyStudy object, you will see that all drivers and constraints are ready for analysis and that the motion appears reasonable. -![Model view Full Body on Fitnessmachine](_static/lesson3/lesson3_image4.png) +```{image} _static/lesson3/lesson3_image4.png +:alt: Model view Full Body on Fitnessmachine +:align: center +``` The final task is to switch on the muscles of the human body again by -commenting out the body model statements that we introduced in the -beginning of this lesson. +commenting out the BM statements that we introduced in the +beginning of this lesson under `Model/BodyModelConfiguration.any`. ```AnyScriptDoc -#include "../libdef.any" - -Main = -{ +#path __BM_PLUGIN_FILE__ "BodyModelConfiguration.any" +#define BM_CONFIG_PLUGIN __BM_PLUGIN_FILE__ - // Body Model configuration: - #include "Model/BodyModelConfiguration.any" +#define BM_MANNEQUIN_DRIVER_DEFAULT OFF - // Using your own Mannequin.any file in the Model folder of your model - #include "Model\Mannequin.any" +// Enable the TLEM2 lower extremity model +#define BM_LEG_MODEL _LEG_MODEL_TLEM2_ - // Switch off all muscles of the body model - §//#define BM_LEG_MUSCLES_BOTH _MUSCLES_NONE_ - //#define BM_TRUNK_MUSCLES _MUSCLES_NONE_ - //#define BM_ARM_MUSCLES_BOTH _MUSCLES_NONE_§ - // Switch of the default drivers - #define BM_MANNEQUIN_DRIVER_DEFAULT OFF +// Switch off all muscles of the body model +§// #define BM_LEG_MUSCLES_BOTH _MUSCLES_NONE_ +// #define BM_TRUNK_MUSCLES _MUSCLES_NONE_ +// #define BM_ARM_MUSCLES_BOTH _MUSCLES_NONE_§ - // Include default human model - #include "\HumanModel.any" -... ``` -Now you are ready to run the “InverseDynamics” operation, which should +Now you are ready to run the 'InverseDynamics' operation, which should now run successfully. -![Model view Full Body on Fitnessmachine with muscles](_static/lesson3/lesson3_image5.png) +```{image} _static/lesson3/lesson3_image5.png +:alt: Model view Full Body on Fitnessmachine with muscles +:align: center +``` -The final version of this model file can be downloaded here: -{download}`‘FitnessMachine\_With\_Human.zip’ `. +A zip file with the final version of this model can be downloaded here: +{download}`FitnessMachine_With_Human.zip `.