Shield:
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
This repository is now archived and read-only as it is the legacy version of condynsate. No bug fixes will be made. For the actively developed version, we reccomend viewing the current repository instead.
condynsate (control and dynamics simulator) is a python-based, open-source educational tool built by G. Schaer at the University of Illinois at Urbana-Champaign under the Grainger College of Engineering 2023-2025 Strategic Instructional Innovations Program: Computational Tools for Dynamics and Control grant. It is designed to aid the education of control and dynamics to aerospace, mechanical, and robotics engineering students by
- providing a simulation environment in which students can see and interact with controlled and uncontrolled dynamic systems in familiar and beneficial ways,
- serving as a platform for introductory Python programming, and
- equipping instructors with a streamlined method of implementing custom in-class demonstrations and lab demos without the need for physical equipment.
Built on PyBullet, MeshCat, and Tk, it implements nonlinear simulation of stl or obj rigid bodies and\or urdf articulated bodies. A browser-based 3D viewer visualizes the simulation and the evolution of individual states are plotted, all in real-time. By simultaneously enabling keyboard interactivity, condynsate projects are designed to feel more like video games, familiar and fun, rather than conventional lab demos all while providing similar educational benefits.
A C++ compiler for C++ 2003 is needed. On Windows, we recommend using the Desktop development with C++ workload for Microsoft C++ Build Tools 2022. Additionally, python>=3.8, pip, and git are also required. We strongly recommend installing condynsate in a virtual environment:
C:\Users\username> python -m venv .venv
C:\Users\username> .venv\Scripts\activate.batTo clone the repository:
(.venv) C:\Users\username> git clone https://github.com/condynsate/condynsate.gitTo install:
(.venv) C:\Users\username> cd condynsate
(.venv) C:\Users\username> pip install -e .When done, to deactivate the virtual environment:
(.venv) C:\Users\username> deactivate