Integrate Regensburg-Ulm Hand Model

Application/Examples/FemoralTorsion/Model/Mannequin.any

@@ -52,10 +52,10 @@ HumanModel.Mannequin = {
 
       //Detail Hand
       Finger1 ={
-        CMCDeviation=20;
+        CMCAbduction=20;
         CMCFlexion=20;
         MCPFlexion= 10;
-        MCPDeviation=0;
+        MCPAbduction=0;
         DIPFlexion=0;
       };
 
@@ -115,10 +115,10 @@ HumanModel.Mannequin = {
 
       //Detail Hand
       Finger1 ={
-        CMCDeviation= ..Right.Finger1.CMCDeviation;
+        CMCAbduction= ..Right.Finger1.CMCAbduction;
         CMCFlexion= ..Right.Finger1.CMCFlexion;
         MCPFlexion= ..Right.Finger1.MCPFlexion;
-        MCPDeviation= ..Right.Finger1.MCPDeviation;
+        MCPAbduction= ..Right.Finger1.MCPAbduction;
         DIPFlexion= ..Right.Finger1.DIPFlexion;
       };
 
@@ -197,10 +197,10 @@ HumanModel.Mannequin = {
 
       //Detail Hand
       Finger1 ={
-        CMCDeviation=0;
+        CMCAbduction=0;
         CMCFlexion=0;
         MCPFlexion= 0;
-        MCPDeviation= 0;
+        MCPAbduction= 0;
         DIPFlexion=0;
       };
 
@@ -260,10 +260,10 @@ HumanModel.Mannequin = {
 
       //Detail Hand
       Finger1 ={
-        CMCDeviation=0;
+        CMCAbduction=0;
         CMCFlexion=0;
         MCPFlexion= 0;
-        MCPDeviation= 0;
+        MCPAbduction= 0;
         DIPFlexion=0;
       };
 

Application/Examples/FreePosture/FreePostureFullBodyShoulderRhythmMove.Main.any

@@ -7,7 +7,7 @@
 // ----------------------------------------------------------
 
 //These statements enable detailed arms and kinematic shoulder rhythm
-#define BM_ARM_DETAILED_HAND ON
+#define BM_HAND_MODEL _HAND_MODEL_RUHM_
 #define BM_ARM_SHOULDER_RHYTHM ON
 
 // Use interpolation drivers to define motion

Application/Examples/FreePosture/FreePostureFullBodyShoulderRhythmStatic.Main.any

@@ -7,7 +7,7 @@
 // ----------------------------------------------------------
 
 //These statements enable detailed arms and kinematic shoulder rhythm
-#define BM_ARM_DETAILED_HAND ON
+#define BM_HAND_MODEL _HAND_MODEL_ANYBODY_
 #define BM_ARM_SHOULDER_RHYTHM ON
 
 // No motion

Application/Examples/FreePosture/Model/ConstantDrivers/LeftHandDrivers.any

@@ -13,7 +13,7 @@
 
   AnyKinEqSimpleDriver CMC1AbductionL={
     AnyKinMeasure& ref =.RefHM.Interface.Left.CMCAbduction;
-    DriverPos={.JntPos.Right.Finger1.CMCDeviation}*pi/180;  
+    DriverPos={.JntPos.Right.Finger1.CMCAbduction}*pi/180;  
     DriverVel={0};
   };
 
@@ -26,7 +26,7 @@
   };
   AnyKinEqSimpleDriver MCP1AbductionL={
     AnyKinMeasure&ref= .RefHM.Interface.Left.MCPAbduction;
-    DriverPos={.JntPos.Right.Finger1.MCPDeviation}*pi/180;
+    DriverPos={.JntPos.Right.Finger1.MCPAbduction}*pi/180;
     DriverVel={0};
   };
 
@@ -42,21 +42,28 @@
 //      DriverPos={0,0};  
 //      DriverVel={0,0};
 //    };
-  AnyKinEqSimpleDriver MCP2L={
-    AnyRevoluteJoint &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.MCP;
+  AnyKinEqSimpleDriver MCP2FlexionL={
+    MeasureOrganizer = {0};
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.MCP;
     DriverPos={.JntPos.Left.Finger2.MCPFlexion}*pi/180;  
     DriverVel={0};
+  };
+  AnyKinEqSimpleDriver MCP2AbductionL={
+    MeasureOrganizer = {1};
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.MCP;
+    DriverPos={.JntPos.Left.Finger2.MCPAbduction}*pi/180;  
+    DriverVel={0};
   };  
   AnyKinEqSimpleDriver PIP2L={
-    AnyRevoluteJoint &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.PIP;
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.PIP;
     DriverPos={.JntPos.Left.Finger2.PIPFlexion}*pi/180;  
     DriverVel={0};
   };
-    AnyKinEqSimpleDriver DIP2L={
-      AnyRevoluteJoint &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.DIP;
-      DriverPos={.JntPos.Left.Finger2.DIPFlexion}*pi/180;  
-      DriverVel={0};
-    };
+  AnyKinEqSimpleDriver DIP2L={
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.DIP;
+    DriverPos={.JntPos.Left.Finger2.DIPFlexion}*pi/180;  
+    DriverVel={0};
+  };
 
 
 
@@ -66,21 +73,28 @@
 //      DriverPos={0,0};  
 //      DriverVel={0,0};
 //    };
-  AnyKinEqSimpleDriver MCP3L={
-    AnyRevoluteJoint &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.MCP;
+  AnyKinEqSimpleDriver MCP3FlexionL={
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.MCP;
+    MeasureOrganizer = {0};
     DriverPos={.JntPos.Left.Finger3.MCPFlexion}*pi/180;  
     DriverVel={0};
   };  
+  AnyKinEqSimpleDriver MCP3AbductionL={
+    MeasureOrganizer = {1};
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.MCP;
+    DriverPos={.JntPos.Left.Finger3.MCPAbduction}*pi/180;  
+    DriverVel={0};
+  };  
   AnyKinEqSimpleDriver PIP3L={
-    AnyRevoluteJoint &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.PIP;
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.PIP;
     DriverPos={.JntPos.Left.Finger3.PIPFlexion}*pi/180;  
     DriverVel={0};
   };
-    AnyKinEqSimpleDriver DIP3L={
-      AnyRevoluteJoint &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.DIP;
-      DriverPos={.JntPos.Left.Finger3.DIPFlexion}*pi/180;  
-      DriverVel={0};
-    };
+  AnyKinEqSimpleDriver DIP3L={
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.DIP;
+    DriverPos={.JntPos.Left.Finger3.DIPFlexion}*pi/180;  
+    DriverVel={0};
+  };
 
 
   //finger4
@@ -89,21 +103,28 @@
 //      DriverPos={0,0}*pi/180;  
 //      DriverVel={0,0};
 //    };
-  AnyKinEqSimpleDriver MCP4L={
-    AnyRevoluteJoint &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.MCP;
+  AnyKinEqSimpleDriver MCP4FlexionL={
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.MCP;
+    MeasureOrganizer = {0};
     DriverPos={.JntPos.Left.Finger4.MCPFlexion}*pi/180;  
     DriverVel={0};
   };  
+  AnyKinEqSimpleDriver MCP4AbductionL={
+    MeasureOrganizer = {1};
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.MCP;
+    DriverPos={.JntPos.Left.Finger4.MCPAbduction}*pi/180;  
+    DriverVel={0};
+  };  
   AnyKinEqSimpleDriver PIP4L={
-    AnyRevoluteJoint &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.PIP;
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.PIP;
     DriverPos={.JntPos.Left.Finger4.PIPFlexion}*pi/180;  
     DriverVel={0};
   };
-    AnyKinEqSimpleDriver DIP4L={
-      AnyRevoluteJoint &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.DIP;
-      DriverPos={.JntPos.Left.Finger4.DIPFlexion}*pi/180;  
-      DriverVel={0};
-    };
+  AnyKinEqSimpleDriver DIP4L={
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.DIP;
+    DriverPos={.JntPos.Left.Finger4.DIPFlexion}*pi/180;  
+    DriverVel={0};
+  };
 
 
   // finger5
@@ -112,21 +133,28 @@
 //      DriverPos={0,0};  
 //      DriverVel={0,0};
 //    };
-  AnyKinEqSimpleDriver MCP5L={
-    AnyRevoluteJoint &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.MCP;
+  AnyKinEqSimpleDriver MCP5FlexionL={
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.MCP;
+    MeasureOrganizer = {0};
     DriverPos={.JntPos.Left.Finger5.MCPFlexion}*pi/180;  
     DriverVel={0};
   };  
+  AnyKinEqSimpleDriver MCP5AbductionL={
+    MeasureOrganizer = {1};
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.MCP;
+    DriverPos={.JntPos.Left.Finger5.MCPAbduction}*pi/180;  
+    DriverVel={0};
+  }; 
   AnyKinEqSimpleDriver PIP5L={
-    AnyRevoluteJoint &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.PIP;
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.PIP;
     DriverPos={.JntPos.Left.Finger5.PIPFlexion}*pi/180;  
     DriverVel={0};
   };
-    AnyKinEqSimpleDriver DIP5L={
-      AnyRevoluteJoint &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.DIP;
-      DriverPos={.JntPos.Left.Finger5.DIPFlexion}*pi/180;  
-      DriverVel={0};
-    };
+  AnyKinEqSimpleDriver DIP5L={
+    AnyKinMeasure &ref=  .RefHM.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.DIP;
+    DriverPos={.JntPos.Left.Finger5.DIPFlexion}*pi/180;  
+    DriverVel={0};
+  };