softrobots.inverse.actuators

Template for actuators.

Content:

PullingCable([attachedTo, name, …])	Creates and adds a cable actuators.
PneumaticCavity([surfaceMeshFileName, …])	Creates and adds a pneumatic actuation.

softrobots.inverse.actuators.PullingCable(attachedTo=None, name='Cable', cableGeometry=[[1.0, 0.0, 0.0], [0.0, 0.0, 0.0]], pullPointLocation=None, minForce=None, maxForce=None, minDisplacement=None, maxDisplacement=None, maxDispVariation=None, translation=[0.0, 0.0, 0.0], rotation=[0.0, 0.0, 0.0], uniformScale=1.0)

Creates and adds a cable actuators. Should be used in the context of the resolution of an inverse problem: find the actuation that leads to a desired deformation. See documentation at: https://project.inria.fr/softrobot/documentation/constraint/cable-actuator/

The constraint is applied to a parent mesh.

Args:

name (str): Name of the created cable.

cableGeometry: (list vec3f): Location of the degree of freedom of the cable.

pullPointLocation (vec3f): Position from where the cable is pulled. If not specified the point will be considered in the structure.

minForce:

maxForce:

minDisplacement:

maxDisplacement:

maxDispVariation:

translation (vec3f): Apply a 3D translation to the object.

rotation (vec3f): Apply a 3D rotation to the object in Euler angles.

uniformScale (vec3f): Apply an uniform scaling to the object.

Structure:

Node : {
        name : "Cable"
        MechanicalObject,
        CableActuator,
        BarycentricMapping
}

softrobots.inverse.actuators.PneumaticCavity(surfaceMeshFileName=None, attachedTo=None, name='PneumaticCavity', minPressure=None, maxPressure=None, minVolumeGrowth=None, maxVolumeGrowth=None, maxVolumeGrowthVariation=None, rotation=[0.0, 0.0, 0.0], translation=[0.0, 0.0, 0.0], uniformScale=1)

Creates and adds a pneumatic actuation. Should be used in the context of the resolution of an inverse problem: find the actuation that leads to a desired deformation. See documentation at: https://project.inria.fr/softrobot/documentation/constraint/surface-pressure-actuator/

The constraint is applied to a parent mesh.

Args:

cavityMeshFile (string): path to the cavity mesh (the mesh should be a surfacic mesh, ie only triangles or quads).

name (string): name of the created node.

minPressure:

maxPressure:

minVolumeGrowth:

maxVolumeGrowth:

maxVolumeGrowthVariation:

Structure: .. sourcecode:: qml

Node : {

name : “PneumaticCavity” MeshTopology, MechanicalObject, SurfacePressureConstraint, BarycentricMapping

}