SoMo Manipulators

SoMo provides an easy way to generate continuum manipulators. Manipulators can be comprised of several serially-chained actuators (SMActuatorDefinition), made up of a series of links (SMLinkDefinition) connected by spring-loaded joints (SMJointDefinition),

To actually implement a manipulator, you can define it in a dictionary or yaml/json file, and load the definition as a SMManipulatorDefinition object. The lower-level definitions are taken care of internally.

SMLinkDescription is correct upon instantiation.

Example json representation: link_example.json # todo update example presentation {

shape_type: xx finish, dimensions: xx finish, mass: xx, inertial_values: xx, material_color: xx, material_name: ,

}

class somo.sm_joint_definition.SMJointDefinition

SMJointDefinition is correct upon instantiation.

Example json representation: link_example.json # todo fix {

xx

}

static assert_required_fields(dict_definition: dict)
static from_file(file_path: str) somo.sm_joint_definition.SMJointDefinition
static from_json(json_file_path: str) somo.sm_joint_definition.SMJointDefinition
to_json()
class somo.sm_actuator_definition.SMActuatorDefinition
static assert_required_fields(dict_definition: dict)
static from_file(file_path: str) somo.sm_actuator_definition.SMActuatorDefinition
static from_json(json_file_path: str) somo.sm_actuator_definition.SMActuatorDefinition
to_json()
class somo.sm_manipulator_definition.SMManipulatorDefinition
static assert_required_fields(dict_definition: dict)
static from_file(file_path: str) somo.sm_manipulator_definition.SMManipulatorDefinition
static from_json(json_file_path: str) somo.sm_manipulator_definition.SMManipulatorDefinition
to_json()