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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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