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ODEFrank is a small piece of code used to simulate assembly tasks in Matlab with the modular humanoid VSA torso. The code has been used to simulate a bimanual peg in hole task.
The simulation environment is composed of a Matlab part, where motors and transmission were modeled, and an ODE (Open Dynamics Engine) part, used for collision detection and rigid body dynamics simulation.
The software has been tested under Windows and Linux, and is licensed under the Simpliﬁed BSD License.
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