// This is a very simple model for demonstration of muscle modeling

Main = {

  AnyFolder MyModel = {

    // Global Reference Frame
    AnyFixedRefFrame GlobalRef = {
      AnyDrawRefFrame drw = {
        RGB = {1,0,0};
      };
    };  // Global reference frame

    // Define one simple segment
    AnySeg Arm = {
      r0 = {0.500000, 0.000000, 0.000000};
      Mass = 1.000000;
      Jii = {0.100000, 1.000000, 1.000000}*0.1;
      AnyRefNode Jnt = {
        sRel = {-0.5, 0.0, 0};
      };      
      AnyDrawSeg drw = {};
    };
    
    // Attach the segment to ground by a revolute joint
    AnyRevoluteJoint Jnt = {
      AnyRefFrame &ref1 = .GlobalRef;
      AnyRefFrame &ref2 = .Arm.Jnt;
      Axis = z;
    };

    // Drive the revolute joint at constant velocity
    AnyKinEqSimpleDriver Drv = {
      DriverPos = {-10*pi/180};
      DriverVel = {40*pi/180};
      AnyRevoluteJoint &Jnt = .Jnt;
      Reaction.Type = {Off};
    };
    
  }; // MyModel

  // The study: Operations to be performed on the model
  AnyBodyStudy MyStudy = {
    AnyFolder &Model = .MyModel;
    InverseDynamics.Criterion.Type = MR_MinMaxStrict;
    Gravity = {0.0, -9.81, 0.0};
  };
};  // Main