HModQuad-sim

Simulations for various structures in CoppeliaSim with Python API

Dependencies

• numpy
• CoppeliaSim Edu

The API files are included, which can be found at https://www.coppeliarobotics.com/

• remoteApi.dll
• sim.py
• simConst.py

There are three simulation environments, each associated with one Python script

Initiate the simulation environment, then run the python file. The robot is going t follow a trajectory

• plus.ttt -> plus.py
• 3x3mixture.ttt -> 3x3mixture.py
• 4x4TModules.ttt -> 4x4TModules.py
• genConfig: NEW the script to generate structure configurations with homogeneous modules that satisfy a set of task requirements.
• 4x4TModulesNonRigidConnection.ttt: NEW the CoppeliaSim scene that utilizes the dummy connection between rigid bodies to emulate the non-rigid connection between modules in a structure.