BR2 simulator’s documentation

BR2 simulator’s documentation

BR2-simulator is the python tool to simulate assembly of FREE arm. To learn more details on this soft-robotics project, please visit Gazzola Lab and Monolithic Systems Lab.

The goal of this package is to provide simple pipeline to test the physical kinematics and configuration of the soft-arm, built based on FREE actuator. The tool is a wrapper around a PyElastica project; all the simulation models here are based on Cosserat Rod Theory. This method allow us to develop fast and easy environment to aid modeling, manufacturing/fabrication, and control.


The easist way to install the package is with pip:

$ pip install br2

or download the source code from the GitHub repo. If you are using the source code, make sure you install all the required dependencies in requirements.txt.