// Todo: Write a small description of your model here

Main = {
  
  // The actual body model goes in this folder
  AnyFolder ArmModel = {
    
    // Global Reference Frame
    AnyFixedRefFrame GlobalRef = {
      
      // Todo: Add points for grounding of the model here
      
    };  // Global reference frame
    // Segments
    AnyFolder Segs = {
      AnySeg UpperArm = 
      {
        r0 = {0.3, 0, 0};
        //rDot0 = {0, 0, 0};
        //Axes0 = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
        //omega0 = {0, 0, 0};
        Mass = 2;
        Jii = {0.001, 0.01, 0.01};
        //Jij = {0, 0, 0};
        //sCoM = {0, 0, 0};
        AnyDrawSeg drw = {};
        AnyRefNode ShoulderNode = {
          sRel = {-0.2,0,0};
        };
        AnyRefNode ElbowNode = {
          sRel = {0.2,0,0};
        };
        AnyRefNode DeltodeusA = {
          sRel = {-0.1,0,0.02};
        };
        AnyRefNode DeltodeusB = {
          sRel = {-0.1,0,-0.02};
        };
        AnyRefNode Brachialis = {
          sRel = {0.1,0,0.01};
        };
        AnyRefNode BicepsShort = {
          sRel = {-0.1,0,0.03};
        };
        AnyRefNode Brachioradialis = {
          sRel = {0.05,0,0.02};
        };
        AnyRefNode TricepsShort = {
          sRel = {-0.1,0,-0.01};
        };
        
      }; //UpperArm
      AnySeg ForeArm = {
        r0 = {0, 0.3, 0};
        Axes0 =RotMat(-90*pi/180, z);

        Mass = 2.0;
        Jii = {0.001,0.01,0.01};
        AnyRefNode ElbowNode = {
          sRel = {-0.2,0,0};
        };
        AnyRefNode HandNode = {
          sRel = {0.2,0,0};
        };
        AnyRefNode Brachialis = {
          sRel = {-0.1,0,0.02};
        };
        AnyRefNode Brachioradialis = {
          sRel = {0.0,0,0.02};
        };
        AnyRefNode Biceps = {
          sRel = {-0.15,0,0.01};
        };
        AnyRefNode Triceps = {
          sRel = {-0.25,0,-0.05};
        };
        AnyDrawSeg DrwSeg = {};
      }; // ForeArm
      
    }; // Segs folder
    
    // Todo. Add the model elements such as
    //       segments, joints, and muscles here.
    
  }; // ArmModel
  
  // The study: Operations to be performed on the model
  AnyBodyStudy ArmStudy = {
    AnyFolder &Model = .ArmModel;
    InverseDynamics.Criterion.Type = MR_MinMaxStrict;
    Gravity = {0.0, -9.81, 0.0};
  };
  
};  // Main