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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.