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
- NEW! 4x4TModulesNonRigidConnection.ttt -> 4x4TModules.py
- Instead of attaching the rotors to the multi-rotor rigid body, the modules are now connected to the multi-rotor rigid body in a modular way through dummies and links, allowing to emulate the bending of the connection and the misalignment between the modules.
- genConfig: NEW the script to generate structure configurations with homogeneous modules that satisfy a set of task requirements.