Update study-of-studies tutorials (#4)

* Update text in lessen 1

* fix line spacing

* Replace AnyKinEqSimpleDriver with AnyKinMotion

* Update lesson 1 in "a study of studies"

* Update positions in arm2d

* Updates to lesson 2

* Updates to lesson1

* Update images in lesson2

* Ensure the InitialCondition operation is available in Dropdown

* Update image with correct colors

* lesson 3 temp commit

* Update lesson 3 and 4

* Update slider-crank example

* typos

* close brackets

* remove open bracket

* Update intro tutorial

* Remove explicit use of AnyDrawMuscle

* minor language changes. load model instead of open model

* Update image2.png

* typos

* Update A_study_of_studies/lesson1.md

Signed-off-by: Morten Enemark Lund <melund@gmail.com>

---------

Signed-off-by: Morten Enemark Lund <melund@gmail.com>
Co-authored-by: dsc <dsc@anybodytech.com>

Author: melund

A_study_of_studies/Downloads/Demo.SliderCrank3D.any

@@ -20,13 +20,15 @@ AnyFolder SliderCrank = {
   // Basic Reference Frames
   // -----------------------------------------------------
   AnyFixedRefFrame GlobalRef = {
-    AnyDrawRefFrame DrwGlobalRef = { RGB={0,0,1};};
+    viewRefFrame.Visible = On;
+    viewRefFrame.RGB = {0,0,1};
   };
 
   AnyFixedRefFrame SliderRef = {
     Origin = {1.0,3.5,0};
     Axes = {{0.8,0.2,0},{-0.2,0.8,0},{0,0,1}};
-    AnyDrawRefFrame DrwGlobalRef = { RGB={0,0,1};};
+    viewRefFrame.Visible = On;
+    viewRefFrame.RGB = {0,0,1};
   };
 
 
@@ -37,37 +39,40 @@ AnyFolder SliderCrank = {
 
     //---------------------------------
     AnySeg Crank = {
-      Mass = 5.0;
-      Jii = {1,0.5,1};
+      Mass = 7.0;
+      Jii = {1,0.1,1};
+      sCoM = {0,0.75,0};
+      JaboutCoMOnOff = On;
       AnyRefNode Tip = {
         sRel = {0,1.5,0};
-        AnyDrawRefFrame DrwNode = {};
       };
-      AnyDrawSeg DrwSeg= {};
+      viewInertia.Visible = On;
+
     };
 
     //---------------------------------
     AnySeg Coupler = {
       r0 = {0,2.5,0};
       Mass = 5.0;
-      Jii = {1,0.5,1};
+      Jii = {1,0.08,1};
+      viewInertia.Visible = On;
+
+      
       AnyRefNode CrankNode = {
         sRel = {0,-1,0};
-        AnyDrawRefFrame DrwNode = {};
       };
       AnyRefNode SliderNode = {
         sRel = {0,1,0};
-        AnyDrawRefFrame DrwNode = {};
       };
-      AnyDrawSeg DrwSeg= {};
     };
 
     //---------------------------------
     AnySeg Slider = {
       r0 = {0,3.5,0};
-      Mass = 5.0;
-      Jii = {1,0.5,1};
-      AnyDrawSeg DrwSeg= {};
+      Mass = 10.0;
+      Jii = {0.6,0.1,0.6};
+      viewInertia.Visible = On;
+      viewInertia.Opacity = 0.3;
     };
 
 
@@ -83,6 +88,7 @@ AnyFolder SliderCrank = {
       Axis = x;
       AnyFixedRefFrame& Ground = Main.SliderCrank.GlobalRef;
       AnySeg &Crank = Main.SliderCrank.Segs.Crank;
+      viewJoint.Visible = On;
     };
 
     //---------------------------------
@@ -91,19 +97,22 @@ AnyFolder SliderCrank = {
       Axis2 = x;
       AnyRefNode &CrankNode = Main.SliderCrank.Segs.Crank.Tip;
       AnyRefNode &CouplerNode = Main.SliderCrank.Segs.Coupler.CrankNode;
+      viewJoint.Visible = On;
     };
 
     //---------------------------------
     AnySphericalJoint Ball = {
       AnyRefNode &CouplerNode = Main.SliderCrank.Segs.Coupler.SliderNode;
       AnySeg &Slider = Main.SliderCrank.Segs.Slider;
+      viewJoint.Visible = On;
     };
 
     //---------------------------------
     AnyPrismaticJoint Rail = {
       Axis = y;
       AnyFixedRefFrame& Ground = Main.SliderCrank.SliderRef;
       AnySeg &Slider = Main.SliderCrank.Segs.Slider;
+      viewJoint.Visible = On;
     };
 
 
@@ -125,7 +134,8 @@ AnyFolder SliderCrank = {
 // The mechanical study
 // =======================================================
 AnyMechStudy MechStudy = {
-
+  tEnd = 2;
+  nStep = 500;
   AnyFolder& Model = Main.SliderCrank;
   Gravity = {0.0, -9.81, 0.0};
 

A_study_of_studies/Downloads/arm2d.any

@@ -32,7 +32,7 @@ Main = {
     // Segments
     AnyFolder Segs = {
       AnySeg UpperArm = {
-        r0 = {0, 0.3, 0};
+        r0 = {0, -0.20, 0};
         Axes0 =RotMat(-90*pi/180, z);
         Mass = 2;
         Jii = {0.001, 0.01, 0.01};
@@ -65,7 +65,7 @@ Main = {
       };  // UpperArm
 
       AnySeg ForeArm = {
-        r0 = {0.3, 0, 0};        
+        r0 = {0.3, -0.40, 0};        
         Mass = 2.0;
         Jii = {0.001,0.01,0.01};
         AnyRefNode ElbowNode = {
@@ -121,19 +121,17 @@ Main = {
     AnyFolder Drivers = {
 
       //---------------------------------
-      AnyKinEqSimpleDriver ShoulderMotion = {
+      AnyKinMotion ShoulderMotion = {
         AnyRevoluteJoint &Jnt = ..Jnts.Shoulder;
-        DriverPos = {-100*pi/180};
-        DriverVel = {30*pi/180};
-        Reaction.Type = {Off};
+        DriverPos0 = {-100*pi/180};
+        DriverVel0 = {30*pi/180};
       }; // Shoulder driver
 
       //---------------------------------
-      AnyKinEqSimpleDriver ElbowMotion = {
+      AnyKinMotion ElbowMotion = {
         AnyRevoluteJoint &Jnt = ..Jnts.Elbow;
-        DriverPos = {90*pi/180};
-        DriverVel = {45*pi/180};
-        Reaction.Type = {Off};
+        DriverPos0 = {90*pi/180};
+        DriverVel0 = {45*pi/180};
       }; // Elbow driver
     }; // Driver folder
 
@@ -148,63 +146,63 @@ Main = {
         AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
         AnyRefNode &Org = ..Segs.UpperArm.Brachialis;
         AnyRefNode &Ins = ..Segs.ForeArm.Brachialis;
-        AnyDrawMuscle DrwMus = {};
+        viewMuscle.Visible = On;
       };
 
       //---------------------------------
       AnyMuscleViaPoint DeltodeusA = {
         AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
         AnyRefNode &Org = ..GlobalRef.DeltodeusA;
         AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA;
-        AnyDrawMuscle DrwMus = {};
+        viewMuscle.Visible = On;
       };
 
       //---------------------------------
       AnyMuscleViaPoint DeltodeusB = {
         AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
         AnyRefNode &Org = ..GlobalRef.DeltodeusB;
         AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB;
-        AnyDrawMuscle DrwMus = {};
+        viewMuscle.Visible = On;
       };
 
       //---------------------------------
       AnyMuscleViaPoint Brachioradialis = {
         AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
         AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis;
         AnyRefNode &Ins = ..Segs.ForeArm.Brachioradialis;
-        AnyDrawMuscle DrwMus = {};
+        viewMuscle.Visible = On;
       };
 
       //---------------------------------
       AnyMuscleViaPoint BicepsShort = {
         AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
         AnyRefNode &Org = ..Segs.UpperArm.BicepsShort;
         AnyRefNode &Ins = ..Segs.ForeArm.Biceps;
-        AnyDrawMuscle DrwMus = {};
+        viewMuscle.Visible = On;
       };
 
       //---------------------------------
       AnyMuscleViaPoint TricepsShort = {
         AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
         AnyRefNode &Org = ..Segs.UpperArm.TricepsShort;
         AnyRefNode &Ins = ..Segs.ForeArm.Triceps;
-        AnyDrawMuscle DrwMus = {};
+        viewMuscle.Visible = On;
       };
 
       //---------------------------------
       AnyMuscleViaPoint BicepsLong = {
         AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
         AnyRefNode &Org = ..GlobalRef.BicepsLong;
         AnyRefNode &Ins = ..Segs.ForeArm.Biceps;
-        AnyDrawMuscle DrwMus = {};
+        viewMuscle.Visible = On;
       };
 
       //---------------------------------
       AnyMuscleViaPoint TricepsLong = {
         AnyMuscleModel &MusMdl = ..Muscles.MusMdl;
         AnyRefNode &Org = ..GlobalRef.TricepsLong;
         AnyRefNode &Ins = ..Segs.ForeArm.Triceps;
-        AnyDrawMuscle DrwMus = {};
+        viewMuscle.Visible = On;
       };
     }; // Muscles folder
 
@@ -223,6 +221,7 @@ Main = {
   AnyBodyStudy ArmStudy = {
     AnyFolder &Model = .ArmModel;
     Gravity = {0.0, -9.81, 0.0};
+    InitialConditions.Settings.DisplayPriority = PriorityNormal;
   };
 
 };  // Main