Specifications

193
Ouch! How did that happen? Well, from a mechanical point-of-view, this solution is fully as good as the more
anatomically compatible solution with the elbow bending the other way. Postures like this and failure to
resolve the initial position can happen because the problem is nonlinear. This means that the solution (or
lack thereof) depends on the starting position. So we must start the solution from a point that is closer to
the result we want to get. This can be accomplished by imposing initial orientations on the segments. In
hard-core AnyScript development this is done by means of the two segment properties r0 and Axes0.
However, the standing model on which this application is built conveniently controls the initial posture
through the mannequin.any file. So we can make the necessary changes there:
AnyFolder Right = {
//Arm
AnyVar SternoClavicularJointProtraction=-23; //This value is not used for initial
position
AnyVar SternoClavicularJointElevation=11.5; //This value is not used for initial
position
AnyVar SternoClavicularJointAxialRotation=-20; //This value is not used for initial
position
AnyVar GlenohumeralFlexion = 50;
AnyVar GlenohumeralAbduction = 0;
AnyVar GlenohumeralInternalRotation = 0;
AnyVar ElbowFlexion = 40;