various fixes

Author: sfj

A_Getting_started/lesson2.md

@@ -58,32 +58,31 @@ and "Left" sub-folders are as follows.
 
 ```AnyScriptDoc
 ...
-AnyFolder Right = {
-
-    //Arm
-    AnyVar SternoClavicularProtraction=-23; //This value is not used for initial position
-    AnyVar SternoClavicularElevation=11.5; //This value is not used for initial position
-    AnyVar SternoClavicularAxialRotation=-20; //This value is not used for initial position
-
-    AnyVar GlenohumeralFlexion =-0;
-    AnyVar GlenohumeralAbduction = 10;
-    AnyVar GlenohumeralExternalRotation = 0;
-
-    AnyVar ElbowFlexion = 0.01;
-    AnyVar ElbowPronation = -20.0;
-
-    AnyVar WristFlexion =0;
-    AnyVar WristAbduction =0;
-
+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 = 4; 
+    GlenohumeralExternalRotation = 2; 
+      
+    ElbowFlexion = 0.01; 
+    ElbowPronation = -20.0;
+      
+    WristFlexion =0;
+    WristAbduction =0;
+            
     //Leg
-    AnyVar HipFlexion = 0.0;
-    AnyVar HipAbduction = 5.0;
-    AnyVar HipExternalRotation = 0.0;
-
-    AnyVar KneeFlexion = 0.0;
-
-    AnyVar AnklePlantarFlexion =0.0;
-    AnyVar SubTalarEversion =0.0;
+    HipFlexion = 0.0; 
+    HipAbduction = 5.0; 
+    HipExternalRotation = 0.0;
+      
+    KneeFlexion = 4.0;
+      
+    AnklePlantarFlexion =0.0; 
+    SubTalarEversion =0.0; 
 
 ...
 ```

A_Getting_started/lesson3.md

@@ -83,7 +83,6 @@ Mannequin = {
         ...
 
         §PelvisThoraxExtension=-60; §
-
         PelvisThoraxLateralBending=0;
         PelvisThoraxRotation=0;
 

A_Getting_started_modeling/lesson1.md

@@ -16,44 +16,51 @@ If you press the OK button, it will open an editor window of
 “MyPedal.main.any” file that includes the following lines:
 
 ```AnyScriptDoc
-#include "../libdef.any"
+#include "libdef.any"
 
-Main = {
-  //If you want to use your own draw settings, please outcomment the next line
-  //#path BM_DRAWSETTINGS_FILE "Model\DrawSettings.any"
+Main = 
+{  
+
+  // Body Model configuration:
+  #include "Model/BodyModelConfiguration.any"
 
   // Using your own Mannequin.any file in the Model folder of your model
-  #path BM_MANNEQUIN_FILE "Model\Mannequin.any"
+  #include "Model\Mannequin.any"
 
   // Include default human model
   #include "<ANYBODY_PATH_BODY>\HumanModel.any"
 
-  AnyFolder Model = {
+  AnyFolder Model = 
+  {
     // A link to the human model
-    AnyFolder &BodyModel=.HumanModel.BodyModelWithDefaultDrivers;
-
+    AnyFolder &BodyModel = .HumanModel.BodyModel;
+    AnyFolder &DefaultMannequinDrivers = .HumanModel.DefaultMannequinDrivers;
+ 
     // Environment files are used to include objects surrounding human
-    #include "Model\Environment.any"
-
-    AnyFolder ModelEnvironmentConnection = {
+    #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"
     };
   };
-
-  AnyBodyStudy Study = {
-    AnyFolder &Model = .Model;
+ 
+  AnyBodyStudy Study = 
+  {
+    AnyFolder &Model = .Model;  
+    
     Gravity={0.0, -9.81, 0.0};
     nStep = 11;
-
-    // these settings are needed for adding drivers without removing the default set
+    // Overdeterminate solver is needed while using the 
+    // soft default mannequin drivers.
     Kinematics.SolverType = KinSolOverDeterminate;
     InitialConditions.SolverType = Kinematics.SolverType ;
   };
 
-  #include "Model\RunAppSequence.any"
+    #include "Model\RunAppSequence.any"
 }; //Main
 ```
 

A_Getting_started_modeling/lesson2.md

@@ -34,9 +34,11 @@ the inclusion of the “HumanModel.any” file.
 
 ```AnyScriptDoc
 Main = {
-  //#path BM_DRAWSETTINGS_FILE "Model\DrawSettings.any"
 
-  #path BM_MANNEQUIN_FILE "Model\Mannequin.any"
+  // Body Model configuration:
+  #include "Model/BodyModelConfiguration.any"
+  // Using your own Mannequin.any file in the Model folder of your model
+  #include "Model\Mannequin.any"
 
   //-->BM statements
   // Excluding the muscles in the trunk segments

A_Getting_started_modeling/lesson3.md

@@ -91,10 +91,12 @@ Then you can see the following structure inside:
 ```AnyScriptDoc
 AnyFolder Joints =
 {
+
 };
 
 AnyFolder Drivers =
 {
+
 };
 ```
 
@@ -142,18 +144,19 @@ by double-clicking the following line, and make the changes show in red:
 
 ```AnyScriptDoc
 ...
-#path BM_MANNEQUIN_FILE "Model\Mannequin.any"
+#include "Model\Mannequin.any"
 ...
 ```
 
 ```AnyScriptDoc
-AnyFolder Mannequin = {
+HumanModel.Mannequin = {
+  
+  Posture = {
+    //This controls the position of the pelvi wrt. to the global reference frame
+    PelvisPosX=§-0.7§;
+    PelvisPosY=§0.5§;
+    PelvisPosZ=0;
 
-  AnyFolder Posture = {
-    //This controls the position of the pelvis wrt. to the global reference frame
-    AnyVar PelvisPosX = §-0.7§;
-    AnyVar PelvisPosY = §0.5§;
-    AnyVar PelvisPosZ = 0;
 ...
 ```
 
@@ -163,31 +166,32 @@ in the leg so that the foot is closer to the pedal. This can be done further dow
 in the Mannequin file:
 
 ```AnyScriptDoc
-    AnyFolder Right = {
-      //Arm
-      AnyVar SternoClavicularProtraction=-23;   //This value is not used for initial position
-      AnyVar SternoClavicularElevation=11.5;    //This value is not used for initial position
-      AnyVar SternoClavicularAxialRotation=-20; //This value is not used for initial position
-
-      AnyVar GlenohumeralFlexion =-0;
-      AnyVar GlenohumeralAbduction = 10;
-      AnyVar GlenohumeralExternalRotation = 0;
-
-      AnyVar ElbowFlexion = 0.01;
-      AnyVar ElbowPronation = -20.0;
-
-      AnyVar WristFlexion =0;
-      AnyVar WristAbduction =0;
-
+    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 = 0.01; 
+      ElbowPronation = -20.0;
+      
+      WristFlexion =0;
+      WristAbduction =0;
+            
       //Leg
-      AnyVar HipFlexion = §110.0§;
-      AnyVar HipAbduction = 5.0;
-      AnyVar HipExternalRotation = 0.0;
-
-      AnyVar KneeFlexion = §100.0§;
+      HipFlexion = §110.0§; 
+      HipAbduction = 5.0; 
+      HipExternalRotation = 0.0;
+      
+      KneeFlexion = §100.0§;
+      
+      AnklePlantarFlexion =0.0; 
+      SubTalarEversion =0.0; 
 
-      AnyVar AnklePlantarFlexion =0.0;
-      AnyVar SubTalarEversion =0.0;
 ...
 ```
 
@@ -227,7 +231,7 @@ AnyFolder Drivers =
 };
 ```
 
-Insert a"PelvisThoraxDriver" into the Drivers folder, created using the `AnyKinEqSimpleDriver` class.
+Insert a "PelvisThoraxDriver" into the Drivers folder, created using the `AnyKinEqSimpleDriver` class.
 You already know how to create model objects from scratch by using the
 the "Class Inserter" ({ref}`described here <class-inserter>`). More details on properties
 such as DriverPos, DriverVel etc. can be ({ref}`found here <anykineqsimpledriver>`) :
@@ -237,9 +241,9 @@ AnyFolder Drivers =
 {
   §AnyKinEqSimpleDriver PelvisThoraxDriver =
   {
-    AnyKinMeasure& ref0 = ...HumanModel.BodyModel.Interface.Trunk.PelvisThoraxExtension;
-    AnyKinMeasure& ref1 = ...HumanModel.BodyModel.Interface.Trunk.PelvisThoraxLateralBending;
-    AnyKinMeasure& ref2 = ...HumanModel.BodyModel.Interface.Trunk.PelvisThoraxRotation;
+    AnyKinMeasure& ref0 = ....HumanModel.BodyModel.Interface.Trunk.PelvisThoraxExtension;
+    AnyKinMeasure& ref1 = ....HumanModel.BodyModel.Interface.Trunk.PelvisThoraxLateralBending;
+    AnyKinMeasure& ref2 = ....HumanModel.BodyModel.Interface.Trunk.PelvisThoraxRotation;
 
     DriverPos = pi/180*{0,0,0};
     DriverVel = pi/180*{0,0,0};
@@ -257,9 +261,9 @@ AnyFolder Drivers =
 {
   AnyKinEqSimpleDriver PelvisThoraxDriver =
   {
-    AnyKinMeasure& ref0 = ...HumanModel.BodyModel.Interface.Trunk.PelvisThoraxExtension;
-    AnyKinMeasure& ref1 = ...HumanModel.BodyModel.Interface.Trunk.PelvisThoraxLateralBending;
-    AnyKinMeasure& ref2 = ...HumanModel.BodyModel.Interface.Trunk.PelvisThoraxRotation;
+    AnyKinMeasure& ref0 = ....HumanModel.BodyModel.Interface.Trunk.PelvisThoraxExtension;
+    AnyKinMeasure& ref1 = ....HumanModel.BodyModel.Interface.Trunk.PelvisThoraxLateralBending;
+    AnyKinMeasure& ref2 = ....HumanModel.BodyModel.Interface.Trunk.PelvisThoraxRotation;
 
     DriverPos = pi/180*{0,0,0};
     DriverVel = pi/180*{0,0,0};
@@ -268,9 +272,9 @@ AnyFolder Drivers =
 
   §AnyKinEqSimpleDriver SkullThoraxDriver =
   {
-    AnyKinMeasure& ref0 = ...HumanModel.BodyModel.Interface.Trunk.SkullThoraxFlexion;
-    AnyKinMeasure& ref1 = ...HumanModel.BodyModel.Interface.Trunk.SkullThoraxLateralBending;
-    AnyKinMeasure& ref2 = ...HumanModel.BodyModel.Interface.Trunk.SkullThoraxRotation;
+    AnyKinMeasure& ref0 = ....HumanModel.BodyModel.Interface.Trunk.SkullThoraxFlexion;
+    AnyKinMeasure& ref1 = ....HumanModel.BodyModel.Interface.Trunk.SkullThoraxLateralBending;
+    AnyKinMeasure& ref2 = ....HumanModel.BodyModel.Interface.Trunk.SkullThoraxRotation;
 
     DriverPos = pi/180*{0,0,0};
     DriverVel = pi/180*{0,0,0};
@@ -312,18 +316,18 @@ AnyFolder Drivers =
 ...
   AnyKinEqSimpleDriver SkullThoraxDriver =
   {
-    AnyKinMeasure& ref0 = ...HumanModel.BodyModel.Interface.Trunk.SkullThoraxFlexion;
-    AnyKinMeasure& ref1 = ...HumanModel.BodyModel.Interface.Trunk.SkullThoraxLateralBending;
-    AnyKinMeasure& ref2 = ...HumanModel.BodyModel.Interface.Trunk.SkullThoraxRotation;
+    AnyKinMeasure& ref0 = ....HumanModel.BodyModel.Interface.Trunk.SkullThoraxFlexion;
+    AnyKinMeasure& ref1 = ....HumanModel.BodyModel.Interface.Trunk.SkullThoraxLateralBending;
+    AnyKinMeasure& ref2 = ....HumanModel.BodyModel.Interface.Trunk.SkullThoraxRotation;
 
     DriverPos = pi/180*{0,0,0};
     DriverVel = pi/180*{0,0,0};
   };
 
   §AnyKinEqSimpleDriver AnkleDriver =
   {
-    AnyKinMeasure& ref0 = ...HumanModel.BodyModel.Interface.Right.AnklePlantarFlexion;
-    AnyKinMeasure& ref1 = ...HumanModel.BodyModel.Interface.Right.SubTalarEversion;
+    AnyKinMeasure& ref0 = ....HumanModel.BodyModel.Interface.Right.AnklePlantarFlexion;
+    AnyKinMeasure& ref1 = ....HumanModel.BodyModel.Interface.Right.SubTalarEversion;
 
     DriverPos = pi/180*{0, 0};
     DriverVel = pi/180*{0, 0};
@@ -348,8 +352,8 @@ AnyFolder Drivers =
 ...
   AnyKinEqSimpleDriver AnkleDriver =
   {
-    AnyKinMeasure& ref0 = ...HumanModel.BodyModel.Interface.Right.AnklePlantarFlexion;
-    AnyKinMeasure& ref1 = ...HumanModel.BodyModel.Interface.Right.SubTalarEversion;
+    AnyKinMeasure& ref0 = ....HumanModel.BodyModel.Interface.Right.AnklePlantarFlexion;
+    AnyKinMeasure& ref1 = ....HumanModel.BodyModel.Interface.Right.SubTalarEversion;
 
     DriverPos = pi/180*{0, 0};
     DriverVel = pi/180*{0, 0};
@@ -437,7 +441,7 @@ Then you see the Object Description dialog will open.
 ![ObjectDescription DOFs](_static/lesson3/image5.png)
 
 **This indicates that the total number of DOFs(degrees of freedom) in your
-model is 132. It makes sense because there are 21 segments in your model
+model is 132. It makes sense because there are 22 segments in your model
 and each segment has 6 DOFs.**
 
 If you scroll down this dialog a little bit more, then you can see the

A_Getting_started_modeling/lesson4.md

@@ -118,19 +118,20 @@ on the pelvis is to provide the necessary supports on the human pelvis
 to run the inverse dynamics if users may not define enough support
 forces on either both feet or pelvis.
 
-Since your model has a joined named "SeatPelvis" between ground and pelvis (which will apply the default reaction forces),
+Since your model has a joint named "SeatPelvis" between ground and pelvis (which will apply the default reaction forces),
 you can comment out “Model\\Reactions.any” in the main file:
 
 ```AnyScriptDoc
 ...
 AnyFolder Model = {
-    AnyFolder &BodyModel=.HumanModel.BodyModelWithDefaultDrivers;
+    AnyFolder &BodyModel = .HumanModel.BodyModel;
+    AnyFolder &DefaultMannequinDrivers = .HumanModel.DefaultMannequinDrivers;
 
     #include "Model\Environment.any"
 
     AnyFolder ModelEnvironmentConnection = {
-    #include "Model\JointsAndDrivers.any"
-    §//#include "Model\Reactions.any"§
+      #include "Model\JointsAndDrivers.any"
+      §//#include "Model\Reactions.any"§
     };
 };
 ...