Tendon Driven Soft Arm with Gripper

Requirements

Binaries of SOFA with the above plugins are also available here.

Optional requirements

If you want to you use the GUI to pilot the robot (forward kinematics) please install tkinter for python3 and set armGUI=True in the file params.py

If you want to solve the inverse kinematics of the robot, you will need the SoftRobots.Inverse plugin which is distributed with the binaries. Then in the file params.py set inverse=True.