https://github.com/sofadefrost/softrobots.inverse

https://github.com/sofadefrost/softrobots.inverse

sofa-framework soft-robotics

Last synced: 10 days ago
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• Host: GitHub
• URL: https://github.com/sofadefrost/softrobots.inverse
• Owner: SofaDefrost
• License: other
• Created: 2023-09-06T09:58:32.000Z (almost 3 years ago)
• Default Branch: main
• Last Pushed: 2026-01-31T04:04:48.000Z (5 months ago)
• Last Synced: 2026-01-31T18:54:04.570Z (5 months ago)
• Topics: sofa-framework, soft-robotics
• Language: C++
• Homepage:
• Size: 3.37 MB
• Stars: 11
• Watchers: 3
• Forks: 12
• Open Issues: 4
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG
  • License: LICENSE.AGPLV3.Clause11.txt

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README

          
# SoftRobots.Inverse plugin for SOFA

[![Information](https://img.shields.io/badge/info-on_website-purple.svg)](https://project.inria.fr/softrobot/)

[![Documentation](https://img.shields.io/badge/doc-on_website-blue.svg)](https://softrobotscomponents.readthedocs.io/en/latest/index.html)

[![Contact](https://img.shields.io/badge/contact-form-green.svg)](https://project.inria.fr/softrobot/contact/) 

This plugin contains inverse method for soft robotics and have a strong dependence to the [SoftRobots plugin](https://github.com/SofaDefrost/SoftRobots).

![](https://github.com/SofaDefrost/SoftRobots.Inverse/blob/main/docs/images/PluginImage.png)

## Documentation

You can find a complete documentation at this address: [SoftRobots Plugin for SOFA](https://project.inria.fr/softrobot/).   

You can also explore the [*examples/*](https://github.com/SofaDefrost/SoftRobots.Inverse/tree/main/examples) directory of this repository.

## Installation

This plugin is distributed in all [stable SOFA binaries](https://www.sofa-framework.org/download/). To build the plugin from sources, instructions can be found [here](https://project.inria.fr/softrobot/install-get-started-2/). 

## Usage

As any SOFA plugin, to use the SoftRobots.Inverse plugin, you should specify to load both libraries:

``` xml

```

## Authors

 - Christian Duriez

 - Eulalie Coevoet

 - Yinoussa Adagolodjo

## License

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.