Constraint

**Actuator (IP*)**

CableActuator
SurfacePressureActuator
ForcePointActuator

Constraint

CableConstraint
SurfacePressureConstraint
UnilateralPlaneConstraint

**Effector (IP*)**

BarycentricCenterEffector
CableEffector
PositionEffector

(*) IP: Inverse Problem

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