Kinematic and dynamic models of continuum and articulated soft robots.
Project description
JAX Soft Robot Modelling
Installation
The plugin can be installed from PyPI:
pip install jax-soft-robot-modelling
or locally from the source code:
pip install .
If you want to run the examples, you will also need to install the following dependencies:
pip install ".[examples]"
Usage
Always, first source all necessary environment variables when opening a new terminal:
source 01-configure-env-vars.sh
Then, we can symbolically derive the pendulum kinematics and dynamics
python examples/derive_pendulum.py
Finally, we can simulate the pendulum
python examples/simulate_pendulum.py
Project details
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