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jgerstmayr / EXUDYN

Multibody Dynamics Simulation: Rigid and flexible multibody systems
https://www.youtube.com/channel/UCsQD2bIPBXB_4J23WtqKkVw/playlists
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Question: Is there any 2D mobile robot example? #20

Closed ManuelZ closed 2 years ago

ManuelZ commented 2 years ago

Hi,

1) I'd like to know if there is any example for a setup like this please:

image

The leggedRobot.py example seems to be the most similar.

2) If I manage to create one, how could I create an undulating floor?

jgerstmayr commented 2 years ago

There is no 2D robot yet. For 2D kinematic trees, see TestModels/kinematicTreeAndMBStest.py. Regarding mobile robots, you can use TestModels/carRollingDiscTest.py for the wheel (even this is 3D) and add an arm, similar to any 2D chain as in Examples/testGymDoublePendulumEnv.py. A 3D mobile platform exists as TestModels/mecanumWheelRollingDiscTest.py.

For a arbitrary floor, you can use the GeneralContact module (though, this is not 100% tested, but it should work for this case). There, you create wheels as rigid particles.