SixDofSuctionCup

SixDofSuctionCup is SuctionCup:
    .doc: """
A flexible suction cup modeled with one RigidBody and six degrees of freedom
for modeling the elasto dynamics.
There are elasto dynamic parameters defined for both the collapsed and the resting state.
"""
    geometry is Physics3D.Charges.ExternalTriMeshGeometry

    local_geometry_axis is Math.Vec3: Math.Vec3.from_xyz(0,0,1)
    holder_relative_position is Math.Vec3: gripper_connector.position

    collapsed_elasto_dynamics is SuctionCupElastoDynamics
    resting_elasto_dynamics is SuctionCupElastoDynamics

    collapsed_joint is SixDofSuctionCupJoint:
        enable_snap: false
        charges: [gripper_connector, collapsed_mounting_connector]
        flexibility.along_main.stiffness: resting_elasto_dynamics.lip_normal_flexibility.stiffness
        flexibility.along_normal.stiffness: resting_elasto_dynamics.radial_axis_flexibility.stiffness
        flexibility.along_cross.stiffness: resting_elasto_dynamics.radial_axis_flexibility.stiffness
        flexibility.around_main.stiffness: resting_elasto_dynamics.around_lip_normal_flexibility.stiffness
        flexibility.around_normal.stiffness: resting_elasto_dynamics.around_radial_axis_flexibility.stiffness
        flexibility.around_cross.stiffness: resting_elasto_dynamics.around_radial_axis_flexibility.stiffness

        dissipation.along_main.damping_constant: resting_elasto_dynamics.lip_normal_dissipation.damping_constant
        dissipation.along_normal.damping_constant: resting_elasto_dynamics.radial_axis_dissipation.damping_constant
        dissipation.along_cross.damping_constant: resting_elasto_dynamics.radial_axis_dissipation.damping_constant
        dissipation.around_main.damping_constant: resting_elasto_dynamics.around_lip_normal_dissipation.damping_constant
        dissipation.around_normal.damping_constant: resting_elasto_dynamics.around_radial_axis_dissipation.damping_constant
        dissipation.around_cross.damping_constant: resting_elasto_dynamics.around_radial_axis_dissipation.damping_constant

    resting_joint is SixDofSuctionCupJoint:
        charges: [gripper_connector, resting_mounting_connector]
        flexibility.along_main.stiffness: resting_elasto_dynamics.lip_normal_flexibility.stiffness
        flexibility.along_normal.stiffness: resting_elasto_dynamics.radial_axis_flexibility.stiffness
        flexibility.along_cross.stiffness: resting_elasto_dynamics.radial_axis_flexibility.stiffness
        flexibility.around_main.stiffness: resting_elasto_dynamics.around_lip_normal_flexibility.stiffness
        flexibility.around_normal.stiffness: resting_elasto_dynamics.around_radial_axis_flexibility.stiffness
        flexibility.around_cross.stiffness: resting_elasto_dynamics.around_radial_axis_flexibility.stiffness

        dissipation.along_main.damping_constant: resting_elasto_dynamics.lip_normal_dissipation.damping_constant
        dissipation.along_normal.damping_constant: resting_elasto_dynamics.radial_axis_dissipation.damping_constant
        dissipation.along_cross.damping_constant: resting_elasto_dynamics.radial_axis_dissipation.damping_constant
        dissipation.around_main.damping_constant: resting_elasto_dynamics.around_lip_normal_dissipation.damping_constant
        dissipation.around_normal.damping_constant: resting_elasto_dynamics.around_radial_axis_dissipation.damping_constant
        dissipation.around_cross.damping_constant: resting_elasto_dynamics.around_radial_axis_dissipation.damping_constant