Robotics/EndEffectors/SixDofSuctionCup.openplx
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