softrobots.actuators

Template for actuators.

Content:

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

softrobots.actuators.PullingCable(attachedTo=None, name='Cable', cableGeometry=[[1.0, 0.0, 0.0], [0.0, 0.0, 0.0]], rotation=[0.0, 0.0, 0.0], translation=[0.0, 0.0, 0.0], uniformScale=1.0, pullPointLocation=None, initialValue=0.0, valueType='displacement')

Creates and adds a cable constraint.

The constraint apply 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.

valueType (str): either “force” or “displacement”. Default is displacement.

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,
        CableConstraint,
        BarycentricMapping
}

softrobots.actuators.PneumaticCavity(surfaceMeshFileName=None, attachedAsAChildOf=None, attachedTo=None, name='PneumaticCavity', rotation=[0.0, 0.0, 0.0], translation=[0.0, 0.0, 0.0], uniformScale=1, initialValue=0, valueType='volumeGrowth')

Creates and adds a pneumatic constraint.

The constraint apply 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.

initialValue (real): value to apply, default is 0.

valueType (string): type of the parameter value (volumeGrowth or pressure), default is volumeGrowth.

Structure: .. sourcecode:: qml

Node : {

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

}