Setup Simulation
Contents
Setup Simulation¶
To run the simulation, you need to provide database and assembly script in json format.
User can register their available FREE specs in the database file, and assembly script can include the registered FREE to assemble the arm.
The activation of the arm can be encoded within the assembly script. In the simulation environment, user can provide the activation in dictionary (i.e. action={"bend-group1":40, "twist-group2":15}).
The example of the data-base is included here. The example of assembly script is included here.
Note
At the current stage, we only support simple serial and parallel assembly of the FREE to build an arm. The purpose is to explore the potential of soft-arm within the ability of fabrication and manufacturing. If you want to explore customized types of connections and constraint, you can try to directly implement using PyElastica.