[SOLVED] Rotate BoxROI for creating force fields of different stiffness in actuator

[AnoushS]

Hello all,

I am currently trying to model a soft robotic actuator that has different subcomponents made from different materials. The issue is that the subcomponents are not simple shapes, so using the boxROI similar to the pnuenet gripper tutorial is not possible.

My first attempt at fixing this problem was to use the attach constraint to combine different .msh compoennts of the gripper together. I was able to do that, however the meshes are very unstable since they dont have any collisions. I then tried to add collision detection, however that caused my simulation to run extremely slow and was not working well.

I feel that the best way to tackle this issue is to use the BoxROI function, but I need to rotate the box to enclose different parts of the full mesh. I can then use the boxROI to create subcomponents with larger stiffness.

Is there any way to rotate the boxROI when defining its position? Currently I use it like this:

body.createObject(‘BoxROI’,name=’ROIsubbody3′,box=’72 -9 10 -15 13 -5.4′,drawBoxes=”false”)

I essentially need to rotate the box similar to how you can rotate a mechanical object like this:

outside2.createObject(‘MechanicalObject’, name=’visualize DOF_out2′, template=’Vec3d’, showObject=’true’, showObjectScale=’1′,translation=[15,0,0],rotation=[120,0,0])

[Hugo]

Hey @anoush

I think I replied about this question here.
Is this correct?
If so, please do not hesitate to close this topic.

Best

Hugo

[Author]

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