This plugin contains inverse method for soft robotics and have a strong dependence to the SoftRobots plugin.
You can find a complete documentation at this address: SoftRobots Plugin for SOFA.
You can also explore the examples/ directory of this repository.
This plugin is distributed in all stable SOFA binaries. To build the plugin from sources, instructions can be found here.
As any SOFA plugin, to use the SoftRobots.Inverse plugin, you should specify to load both libraries:
<RequiredPlugin name="SoftRobots">
<RequiredPlugin name="SoftRobots.Inverse">- Christian Duriez
- Eulalie Coevoet
- Yinoussa Adagolodjo
This plugins is available under the AGPL-v3 license, granting a non-exclusive, worldwide, royalty-free license to use and exploit the associated patented method. For more information, see both files:
- LICENSE.AGPLV3.txt (AGPL-v3)
- LICENSE.AGPLV3.Clause11.txt (mention of the patent)
The open source software " SoftRobots.Inverse " implements the patented Inria method for performing the inverse in real time in order to control the robot: Inria patent entitled "Method for controlling of a deformable robot, associated module and computer program", filed in France on 8 February 2013 (priority date) publication number: FR3002047 - 2014-08-15 - WO2014122134A1; US2015360367A1; EP2954429A1; JP2016513021A.
Clause 11 of its open source license "AGPLv3" grants you a non-exclusive, worldwide, royalty-free license to use and exploit this patent when you use " SoftRobots.Inverse " software or any derivative software work (i.e., developed from the source of that software) to implement this patented method.