Specifications

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The ARep branch of the repository contains a large amount of applications
where different collections of body parts are hooked up to more or less complicated environments. Some of
these environments may be extremely simple, such as a floor to stand on, while others may be mechanisms
in their own right such as wheel chairs or bicycles with complicated crank mechanisms. In the vast majority
of cases, the easiest way to develop a new application is to find a similar existing application, copy it, and
modify it to suit your purpose. This is what we shall do in this initial lesson of the building block tutorial.
The standing model
The Aalborg branch of the ARep part of the repository contains a number of versions of standing models.
These models are useful as starting points for many applications comprising the entire body. In the following
we shall perform two modifications of a static standing model that will transform it to a dynamic model
operating a hand-driven pump.
The first step is to go to ARep/Aalborg and locate the directory called StandingModel. Make a copy of the
directory and rename the copy to HandPump (or HandPumpTutorial. If you are working on the full version of
the repository, there might be a HandPump model already. This model originates from the from this
tutorial). Then go into the new HandPump directory, locate the file named StandingModel.Main.any and
rename it to HandPump.Main.any. Then double-click the HandPump.main.any file to open it in the AnyBody
Modeling System, and we are ready to go.
Before starting to modify the model, time may be invested well in familiarization with its basic structure. The
standing model was originally created as an AnyBody-parallel to so-called digital manikins. It is a model
whose posture is controlled by a set of anatomical joint angles specified in the file mannequin.any. If you
browse down a little bit into the main file you will come to the following section: