Advanced soft robot modeling in ChainQueen

Abstract We present extensions to ChainQueen, an open source, fully differentiable material point method simulator for soft robotics. Previous work established ChainQueen as a powerful tool inference, control, and co-design detail enhancements allowing more efficient simulation optimization expressive co-optimization over properties geometric parameters. package our in easy-to-use, modular application programming interface (API) with predefined observation models, controllers, actuators, optimizers, processing tools, making it simple prototype complex experiments 50 lines or fewer. demonstrate the power of nine simulated experiments.