condynsate

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

  1. providing a simulation environment in which students can see and interact with controlled and uncontrolled dynamic systems in familiar and beneficial ways,

  2. serving as a platform for introductory Python programming, and

  3. 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 OpenCV, it implements nonlinear simulation of stl or obj rigid bodies andor 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.

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