condynsate 0.4.1

Simulates and visualizes articulated systems in real time

condynsate

condynsate is a dynamic system simulation and visualization tool built with PyBullet and MeshCat. It automatically simulates multiple objects and their interactions as described by .urdf, .stl, and .obj files and can render real time visualizations in a web browser.

Installation without Virtual Environment (not recommended)

For a base installation:

pip install condynsate

To include optional packages helpful in education settings:

pip install condynsate[edu]

Recommended Windows Installation (Miniconda)

1. Install Miniconda for Windows

If you do not have Miniconda already installed, download the most recent Miniconda installer for Windows 64 from the miniconda website or just click here to download it automatically. Once the .exe is downloaded, run it. The .exe file has the format Miniconda3-latest-Windows-x86_64 and will be in your default downloads folder C:\Users\USER NAME\Downloads.

• Once the wizard is running, click next.

• Click I Agree.

• Ensure Just Me (recommended) is selected and click Next.

• Click Next.

• Ensure Create start menu shortcuts (supported packages only) is checked and Register Miniconda3 as my default Python 3.11 is NOT CHECKED.

• Once installation is complete, click next.

• You may deselected Getting started with Conda and Welcome to Anaconda then click Finish.

• Navigate to the Windows Start Menu folder located at C:\Users\USER NAME\AppData\Roaming\Microsoft\Windows\Start Menu\Programs\Miniconda3 (64-bit).

• To create a desktop shortcut to Anaconda Prompt (the application that will be used interact with Miniconda), right click on Anaconda Prompt (Miniconda3), navigate to Send to, then click Desktop (create shortcut).

• To verify that Miniconda is installed properly, open Anaconda Prompt (Miniconda3) and type

conda --version

• You should get a response that lists the version of Miniconda you just installed.

Miniconda is now installed on your machine.

2. Install condynsate in a Miniconda virtual environment

To install condynsate in a Miniconda virtual environment, open Anaconda Prompt (Miniconda3) and type

conda create -n condynsate python==3.8.18

Press enter.

When prompted, type

y

then press enter.

When complete, type

conda activate condynsate

then press enter.

You can confirm the virtual environment is activated when

(base)

changes to

(condynsate)

at the begining of the prompt line. Once the virtual environment is activated, type

pip install condynsate[edu]

and press enter. This installs condynsate and some other optional dependencies that are helpful when using condynsate.

Once the installation is complete, you can confirm that condynsate has been successfully installed and the virtual environment is set up correctly by typing

python

and pressing enter. This starts a Python shell in your Anaconda prompt. Next type

import condynsate

and press enter. Finally type

condynsate.__version__

and press enter. If condynsate is installed correctly, the current version will be shown.

condynsate is now installed on your machine. You may type

quit()

to quit the Python shell and exit out of the Anaconda prompt.

Recommended Linux Installation (Miniconda)

1. Install Miniconda for Linux

If you do not have Miniconda already installed, run these four commands in the terminal to quickly and quietly install the latest 64-bit version of the installer. To open the terminal press ctrl+alt+t.

mkdir -p ~/miniconda3
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
rm -rf ~/miniconda3/miniconda.sh

Restart the terminal. After installing, initialize your newly-installed Miniconda.

~/miniconda3/bin/conda init bash

To verify that Miniconda is installed properly, run the command

conda --version

You should get a response that lists the version of Miniconda you just installed. If you do not, more help on installation can be found here.

2. Install condynsate in a Miniconda virtual environment

To install condynsate in a Miniconda virtual environment, open the terminal and create a new virtual environment with python 3.8. To open the terminal press ctrl+alt+t. When the terminal is open, run the command:

conda create -n condynsate python==3.8.18

When complete activate the new environment

conda activate condynsate

You can confirm the virtual environment is activated when

(base)

changes to

(condynsate)

Install condynsate with edu dependencies to the environment using the pip package manager:

pip install condynsate[edu]

Once the installation is complete, you can confirm that condynsate has been successfully installed and the virtual environment is set up correctly by running the following three commands:

python
import condynsate
condynsate.__version__

If condynsate is installed correctly, the current version will be shown. condynsate is now installed on your machine. You may type

quit()

to quit the Python shell.

Recommended MacOS Installation (Miniconda)

1. Install Miniconda for MacOS

If you do not have Miniconda already installed, run these four commands in the terminal to quickly and quietly install the latest 64-bit version of the installer. To open the terminal do one of the following:

• Click the Launchpad icon in the Dock, type Terminal in the search field, then click Terminal.
• In the Finder , open the /Applications/Utilities folder, then double-click Terminal.

mkdir -p ~/miniconda3
curl https://repo.anaconda.com/miniconda/Miniconda3-latest-MacOSX-arm64.sh -o ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
rm -rf ~/miniconda3/miniconda.sh

Restart the terminal. After installing, initialize your newly-installed Miniconda.

~/miniconda3/bin/conda init bash

To verify that Miniconda is installed properly, run the command

conda --version

You should get a response that lists the version of Miniconda you just installed. If you do not, more help on installation can be found here.

2. Install condynsate in a Miniconda virtual environment

To install condynsate in a Miniconda virtual environment, open the terminal and create a new virtual environment with python 3.8. To open the terminal do one of the following:

• Click the Launchpad icon in the Dock, type Terminal in the search field, then click Terminal.
• In the Finder , open the /Applications/Utilities folder, then double-click Terminal.

When the terminal is open, run the command:

conda create -n condynsate python==3.8.18

When complete activate the new environment

conda activate condynsate

You can confirm the virtual environment is activated when

(base)

changes to

(condynsate)

Install condynsate with edu dependencies to the environment using the pip package manager:

pip install condynsate[edu]

Once the installation is complete, you can confirm that condynsate has been successfully installed and the virtual environment is set up correctly by running the following three commands:

python
import condynsate
condynsate.__version__

If condynsate is installed correctly, the current version will be shown. condynsate is now installed on your machine. You may type

quit()

to quit the Python shell.

Usage

For examples of usage, see examples.