WheelTurnDoubleHand.Main.any

#include "PreMainIncludes.any"

Main = {
  
  AnyOperationSequence RunApplication = {
    AnyOperation &CalibrationAnal = Main.HumanModel.Calibration.CalibrationSequence;  
    AnyOperation &InvAnal=Main.Study.InverseDynamics;
  };
  
  AnyFolder StrengthParameters={
    AnyVar SpecificMuscleTensionSpine= 90; //N/cm^2
    AnyVar StrengthIndexLeg= 1; 
    AnyVar SpecificMuscleTensionShoulderArm= 90; //N/cm^2
  };
  
  AnyFolder WinchParameters = {
    AnyVec3 Hub = {0.53, 0.08, 0}; // Center of the wheel
    AnyVar Rad = 0.25;               // Radius of the wheel
    
    // Movement of the wheel
    AnyVar Omega = 180;             // Wheel angular velocity, degrees/sek
    AnyVar M = -20;                 // Wheel moment
  };
  
  AnyFolder SupportParameters = {
    AnyVec3 HandRest = {0.4, 0.100, -0.4};  // Rest for the left hand
    AnyVar HandRestPitch = 0;
    AnyVar HandRestRoll = -40;
    AnyVar HandRestYaw = -20;
  };
  
  
  AnyFixedRefFrame GlobalRef = {
    Origin ={0,0,0};
AnyDrawRefFrame DrwRef = {
       ScaleXYZ={0.05,0.05,0.05};
       RGB ={0,0,1};Visible = On;};

    AnyRefNode PelvisGroundLock = {
      sRel = {0.1,-0.13,0.0};
    };
    
    // AnyBody logo 
    AnyRefNode Logo={
      sRel={1.2,-0.1,-0.5};
      ARel = RotMat(150*pi/180,y)*RotMat(0*pi/180,x);
      
      AnyDrawSTL Body = {
        FileName = "<AMMR_PATH>Body/AAUHuman/ToolBox/DrawObjects/Body-grey.stl";
        RGB = Main.DrawSettings.Colors.AnyBodyGrey;
        Opacity = 1;  ScaleXYZ={0.01,0.01,0.01}*1.5;
      };
      
      AnyDrawSTL AnyTechnology = {
        FileName = "../../../Body/AAUHuman/ToolBox/DrawObjects/AnyTechnology-red.stl";
        RGB = Main.DrawSettings.Colors.AnyBodyRed;
        Opacity = 1; ScaleXYZ={0.01,0.01,0.01}*1.5;
      };
    };
  };
  
  #include "DrawSettings.any"
  AnyFolder HumanModel={
    
    AnyFolder &Mannequin=.Model.Mannequin;
    #include  "BodyModel.any"
    AnyFolder StrengthParameters={
      AnyVar SpecificMuscleTensionSpine= 90; //N/cm^2
      AnyVar StrengthIndexLeg= 1; 
      AnyVar SpecificMuscleTensionShoulderArm= 90; //N/cm^2
    };
    
    //Choice of Scaling
    #include "<AMMR_PATH>Body\AAUHuman\Scaling\ScalingStandard.any"    
    Scaling={  };   
  };
  
  AnyFolder Model = {    
    
    AnyFolder &HumanModel=.HumanModel.BodyModel;
    #include "Environment.any"   
    #include "Mannequin.any"   
    
    AnyFolder ModelEnvironmentConnection = {
      #include "JointsAndDrivers.any"
    };
  };
  
  AnyBodyStudy Study = {
    AnyFolder &Model = .Model;
    InverseDynamics.Criterion.Type = MR_MinMaxStrict;// Saeed added
    
    tEnd = 360/.WinchParameters.Omega-1/360;  // Always turn one round
    Gravity = {0.0, -9.81, 0.0};
    nStep=100;
    AnyOutputFun AnalysisTime = {
      Val = .t;
    };

    
    AnyOutputFun MaxAct=  {  Val = Main.Study.MaxMuscleActivity; };
    AnyOutputFun ThoraxExtension = { Val = Main.Model.HumanModel.Interface.Trunk.PelvisThoraxExtension.Pos[0];
    
    };
//    InverseDynamics.Criterion.UpperBoundOnOff = Off;// S added
  }; // End of study 
  
  
  AnyOptStudy Optimization = 
  {
//    Optimization.Solver=OptFeasibleDirSearch2;
    //LogFile = "OptStudy.log";
    MaxIterationStep = 100;
//    Optimization.ConvergenceObjectiveTol=1e-5;
//    Optimization.ConvergenceDesignTol=1e-5;
//    Optimization.NumSensitivityPerturbation = 1e-3;

    //LogFile = "";
    Analysis = 
    {
      Settings = 
      {
        Echo = On;
        ModelSceneUpdate = On;
      };
      AnyOperation &InvStd = Main.Study.InverseDynamics;
    };
    //MaxIterationStep = 100;
    //AnyDesVar & ElboePron = Main.Model.ModelEnvironmentConnection.Drivers.Elbow.Data;
    //AnyDesVar &<Insert name1> = <Insert object reference (or full object definition)>; You can make any number of these objects!
    
//     AnyVar slack=180*pi/180;
//    AnyVar slack2=10*pi/180;
//    AnyVar slack3=5*pi/180;
    
//    #include "HandlePosDesignVars.any"

//    #include "ThoraxLateralBendingDesignVars.any"
    #include "ThoraxFlexDesignVars.any"
    #include "ElbowPronationDesignVarsRight.any"
    #include "ElbowPronationDesignVarsLeft.any"
    AnyDesMeasure MaxActivityy = {
      Val = max(..Study.MaxAct()-1);
      Type = LessThanZero;
    };
    AnyDesMeasure Objective = {
//    Val = mean(Main.Study.MaxAct()^2) + 100*max(Main.Study.KinematicError);
      Val=(secint(Main.Study.MaxAct()^3,..Study.AnalysisTime()))/..Study.tEnd;
//      Val = max(Main.Study.MaxAct());
      Type = ObjectiveFun;
    };
    //AnyDesMeasure &<Insert name1> = <Insert object reference (or full object definition)>; You can make any number of these objects!
  };
  
  
}; //Main