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andersct's avatar
Add example applying forces to shuttle model
andersct authored 
- fix shuttle model to recalculate inertia matrix after centering
- refactor 3d plotting functions
- add functions for using quaternions
- add quaternion based model for integrating thrusts
- add exponential map based model for integrating thrusts
- refactor state space models for approximately maintaining constraints
- add euler step function
- add animation function for 3d
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andersct's avatar 6c38b697
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Name Last commit Last update
controls
examples
misc
rigid_body_models
scene_elements
state_space_models
vis
.gitignore
README.md
__init__.py
README.md

This repository caters to two main goals: to learn about robotics through simulation, and to provide an environment to do that with minimal dependencies. A third is maybe to have simple and modular code.

Dependencies

  • NumPy
  • SciPy
  • matplotlib
  • plotly

Numpy here is generally used for its math routines. Scipy is for advancing the time in some simulations and occasionally for its optimization routines. Many visuals are done with matplotlib, so most of the examples in examples/ will need this. Any of the visuals that need 3d rendering (as opposed to matplotlib's 2.5d) are made with plotly.

Here is an example of creating an environment named py37control with Anaconda having the dependencies:

conda create -n py37control python=3.7 numpy scipy matplotlib
source activate py37control
conda install -c plotly plotly=4