avikde / robobee3d

Robobee research including controls, modeling, and simulation

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controls modeling mpc mpc-control simulation

readme

robobee3d

Robobee 3D sim (and maybe files for planar ones as well)

Installing

Common: https://github.com/avikde/controlutils

Pybullet 3D sim:

pip install pybullet: need version 2.8.2 or above (see https://github.com/bulletphysics/bullet3/issues/2152 and https://pybullet.org/Bullet/phpBB3/viewtopic.php?f=9&t=12998). It may need some VS stuff on windows and takes a while to build, but works fine.

Running

Pybullet 3D sim

Generate the urdf by running python xacro.py sdab.xacro > sdab.xacro.urdf in the urdf/ subdirectory (or run the task in VS code)
For the pybullet example, run python pybullet_hello.py

Contributing

Create a branch and push to it
Create a pull request to merge
master should always have working code for everyone to use

Julia

Download from official or use choco
install Ipopt.jl -- have to do Pkg.build("Ipopt") after following the instructions.
try the hs071.jl test in flapopt