A pybullet simulation to optimize 3-sided coin geometry.
Windows OS's have a hard time with pybullet, use Ubuntu if possible.
Highly recommend installing in a virtualenv to keep from polluting your system. Install may take a long time, as several dependencies are heavy.
git clone https://github.com/timjolson/threesidedcoin
cd threesidedcoin
pip install -e .
simulator.py - supporting functions to run simulation, contains class Sim
show_results.py - displays results and predicted optimal geometry, saves results.png
sim_simple.py - basic example of running a simulation
sim_minimize.py - run sim, use scipy.optimize.minimize to find solution;
each iteration increases number of flips, decreases timestep
sim_linspace.py - run sim on a distribution of ratios
sim.log - log file of sims run
cylinder_ref.urdf - a reference URDF file for the coin geometry
cylinder.urdf - URDF file built for each geometry, generated and loaded when needed
results.dat - log of sim results: (ratio, error of landing on edge rate, successful flips)
See LICENSE for details.