The SoftRobots plugin for SOFA: Templates Library Documentation¶
Utility functions and scene templates for the real-time simulation framework SOFA and the SoftRobots plugin.
The library can be used with scenes written in python and PSL.
Example:¶
from stlib.scene import MainHeader
from stlib.physics.rigid import Cube, Floor
from stlib.physics.deformable import ElasticMaterialObject
from softrobots.actuators import PullingCable
from softrobots.sensors import StringSensor
def createScene(rootNode):
MainHeader(rootNode)
DefaultSolver(rootNode)
Cube(rootNode, translation=[5.0,0.0,0.0])
Floor(rootNode, translation=[0.0,-1.0,0.0])
target = ElasticMaterialObject(volumeMeshFileName="mesh/liver.msh",
totalMass=0.5,
attachedTo=node)
PullingCable(target)
StringSensor(target)
Contents of the library¶
softrobots.actuators |
Template for actuators. |
softrobots.sensors |
|
softrobots.parts |
Templates for robot parts. |
softrobots.inverse |
Inverse model. |