Inquiry About the Open-Source Availability of Two SOFA SoftRobots Examples

[sodasoda520]

While exploring the SoftRobots and SoftRobots.Inverse plugins, I noticed two example projects referenced in SOFA documentation and visuals. One is an FEM model example with a blue structure, and the other is a neural network training example for a cross-shaped soft structure.

I couldn’t find the source files for these examples in the SoftRobots or SoftRobots.Inverse plugin folders. Are these projects available as open-source resources? If so, could someone please share the relevant download links or documentation? Thank you!

[hugtalbot]

Hi @EulalieCoevoet

could you maybe enlighten us about these missing examples 🙏 ?

[EulalieCoevoet]

Hi,

I've just added the IK simulation of the diamond robot (your first image) in here: SoftRobots.Inverse/examples/sofapython3/robots/Diamond.py

For the second simulation maybe @damienmarchal knows?

[colaca]

Thank you very @hugtalbot @EulalieCoevoet
it's very useful！
I am reading the papers related to Diamond.py,I would also like to ask if you know how to view the code writing process of QPInverseProblemSolver？I would rather know the details of QPInverseProblemSolver implementation.

Thank you!

[hugtalbot]

To read more, the following papers might be of interest:

• Software toolkit for modeling, simulation, and control of soft robots
• Framework for online simulation of soft robots with optimization-based inverse model
  The associated plugins are : SoftRobots and SoftRobots.Inverse
  Cheers

[damienmarchal]

Hi @sodasoda520,

Thank for your interest !
The tripod scenes are located in https://github.com/SofaDefrost/SoftRobots/tree/master/examples/tutorials/Tripod

But this is the one controlled by a physic model and not the neurally trained one.
The video was a quick and dirty test for which I don't remember if it landed in a source repository. It was few day of work from the Tripod tutorial.