![]() ![]() # Meshing and addition of mechanical model # Add in routing points to function attributes to implement tendon driveĭef Finger(parentNode=None, name="Finger", rotation=, Inputvalue.value = inputvalue.value + 1.ĭisplacement = inputvalue.value - 1. # Function recovers user interaction via keyboard as input for body manipulation in scene # Inheriting onKeyPressed method to redefine interactive keys and create new behaviour Inputvalue =cable.getObject("CableConstraint").findData('value') # SOFA Documentation is further used, supplying info on available functionality and optionsĬlass FingerController(Sofa.PythonScriptController): # A python class created by SOFA is inherited from, redefining interaction keys to implement a 'controller' script-> "PythonScriptController.h" # Utilising SOFA templates to model cableįrom softrobots.actuators import PullingCableįrom splib.loaders import loadPointListFromFile # Code extracts and Templates by SOFA used below are fully and correctly referenced in the text accompanying these files # Script by: Sara Hijazi in fulfillment of the requirements of MSc Robotics 2020 The file containing the bodies included in the scene as well as the controller: # -*- coding: utf-8 -*. I am not sure how much of my code to post so I’ll organise it here below. Now, the cable is not actually penetrating any material in the model (Could This is where I will install pins around which the cable can slide, and so right – I have a U-shaped ‘channel’ running through the inner-face of my gripper finger. I checked everything again but can’t seem to find where the problem might be. ![]() However, when I try to interactively move my gripper down to grasp a body, the only thing that moves is my “pullPoint”, which is acting as the common origin to all my gripper’s fingers. ![]() I have debugged my code and every thing seems to be running okay (no obvious errors or warnings). I followed roughly the same process as the CableGripper tutorial available for the SoftRobots plugin. I have been trying to implement a cable-driven actuation mechanism to my soft gripper. ![]()
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