"Eel-inspired Soft Robot Dynamic Structural Simulation Dataset"

"This dataset contains data from a dynamic structural finite element simulation of an eel-inspired soft robot constructed and executed in the Simulation Open Framework Architecture (SOFA). The data contained herein represents 40 simulated trials, each spanning 10 seconds of dynamic behavior under cyclic actuation inputs. For each trial, the fluidic elastomer actuators comprising the robot were given sinusoidal pressure inputs under antagonistic coupling constraints and we compiled the data for the full-order state, input, and outputs at each timestep, with step size of 0.01 seconds. The full order state of the system represents the spatial coordinates of every node in the meshed body of the robot; the input to the system represents the antagonistically coupled pressure signals applied to each of the fluid elastomer actuators comprising the robot; and the output represents the the x-z position of 20 equally spaced points along the robot's dorsal centerline.We include data for all 40 trials in separate files titled Trial_<Number>.HDF5, a .msh file containing the mesh of the simulated system, and video renderings of the robot's behavior during each trial compiled in another .zip folder. We also provide example code snippets for reading in data and producing further renderings. "