mechanisms.components.sources¶

Source components: forces whose power is metered in the energy accounting.

Classes

`ForceSource`(coord, force[, max_force, max_power])	A force f on a coordinate, held in a live Param; its power f·ẏ is metered.
`GravityCompensation`(robot[, gravity])	Forces cancelling gravity on a robot's point masses, f_i = −m_i g (a metered source).
`SpeedRegulator`(coord, gain, speed[, ramp_time])	Drives a coordinate towards a commanded speed: f = b (ω_cmd(t) − ẏ), a metered source.