SOFA plugin: ArticulatedSystemPlugin  master
Open source framework for multi-physics simuation
Articulated Arm

Requirements

Optional

To use a GUI to control the robot you need to install tkinter for python. For instance on Ubuntu:

sudo apt-install python-tk

and uncomment the following lines in robot.py:

from robotGUI import RobotGUI # Uncomment this if you want to use the GUI
robot.addObject(RobotGUI(robot=robot)) # Uncomment this if you want to use the GUI

How to run the simulation

runSofa robot.py