![]() The geometry of the sand channel is alreadyincluded in the structure When the same meshes are used for modeling and inversion, You can now follow the steps provided in “SoftRobots/doc/tutorials/Pneunet-Gripper” to load your mesh into Sofa and simulate pressure actuation.Two geometries have to be created. To generate the volumetric 3D mesh clic on “Modules/Mesh/3D”. To generate your surfacic 2D mesh simply clic on “Modules/Mesh/2D”. ![]() You can change the size of the elements (Element size factor) to get fine or coarse meshes. We recommend to use the “MeshAdapt” algorithm for the 2D generation. Several options are available to optimize your mesh. To generate a 2D mesh and a 3D mesh adapted to simulation, we propose to use GMSH. Deformations are only possible on the nodes of the mesh, a triangle can not bend. There is often not enough points to allow deformations (see the result in the following images). Becareful if you want to use this mesh for simulation, either for the visualisation or the collision model, because the mesh may not be suited. Using FreeCAD you can directly export your mesh using the “.stl” or “.obj” format (sufficient for 3D printing). ![]() We mainly remove the sharp angles to ease the 3D print of the mold, and the casting stage of the silicone. Here we will add what we call a “fillet” ( ). Now we can both the surface and the inner cavity. You can change the view of the object (right clic on the model, appearance…). Select both objects and combine them into a single object using the “fusion” tool ( ).
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