A simple simulation based on PyBullet.
Tested on Python 3.6 but should work on any recent version of Python:
pip install numpy pygame pybullet onshape-to-robot transforms3d scipyThere are several simulation files but generaly python sim_hexa.py --help gives some info on how to use them.
Make sure your file kinematics.py is in this folder.
python sim2.py --mode directpython sim2.py --mode inversepython sim2.py --mode circlepython sim2.py --mode trianglepython sim_hexa.py --mode frozen-direct