You can download the file associated with this step at:
http://sofamacbuilder.lille.inria.fr/defrost/scenes/Tutorial/step6-SoftGripper/SoftGripper_directControl.py
In the previous steps, we showed the simulation of a single finger made of elastic material. But the orginal soft gripper robot is composed of three fingers actuated with cables. In the design of Taimoor Hassan et al., a single cable is used for the three fingers. We reproduce it in the simulation, by applying the same control input to three cable actuators placed on the three fingers
In the file SoftGripper_directControl.py, we put 3 finger models by copy/paste of the previous simulation
PythonScriptController is placed at the root node of the graph to interactively change the inputs of 3 the CableConstraint components. Here, we use a control of the actuators (direct simulation).
How to use the demo ?
Launch the file SoftGripper_directControl.py on SOFA, click the button Animate and then press Ctrl + to close the gripper and Ctrl - to open the gripper.