Step 3: Stability check across poses. During this step, TrussFormer verifies that the mechanism is structurally sound. In the background, TrussFormer finds the safe range of expansion and contraction of the placed actuator by simulating the occurring forces in a range of positions. If there is a pose where the forces exceed the pre-determined breaking limits or the structure would tip over, TrussFormer sets the limits for the actuator so it will not extend beyond them. This check prevents users from producing invalid configurations.
Step 4: Animation. To animate the structure users open the animation pane in the toolbar, as shown in the figure below. First, they control the movement of the structure manually using sliders, to try out the movement. When they find the desired pose, they simply add it as a keyframe to the animation timeline. With this TrussFormer allows users to orchestrate the movement of all actuators using a simple timeline/keyframe editor. Here, user programs a “feeding” behaviour, where the T-Rex opens its mouth while reaching down and waving its tail.