PyStuart - Stewart Platform Simulator

Interactive 3D simulator for a Stewart Platform (hexapod) with real-time inverse kinematics. The v2 line grows the simulator into the full motion rig stack: motion cueing (washout), sim racing telemetry and hardware transport.

Features

• Real-time 6-DOF platform control
• Inverse kinematics visualization
• Camera controls (rotate, pan, zoom)
• Servo angle feedback
• Reachability detection
• Trajectory animation (CSV import, playback, speed/loop)
• Pose presets (save/load/delete named configurations)
• Servo angle export (current pose and full trajectory) to CSV
• Workspace boundary analysis with IK reachability grid
• Cueing pipeline: AC UDP / CSV telemetry -> classical washout -> live 3D
• Hardware tab: serial link to the Bridge, CMD_ACT streaming, SRV_FB / PWR_MON readouts
• Headless runner for rig-side service duty: pystuart-headless

Requirements

• Python 3.8+
• PyQt6
• PyOpenGL
• NumPy

Installation

git clone https://github.com/Arharim/PyStuart.git
cd PyStuart

# editable install (recommended for development)
pip install -e .

# or just the dependencies
pip install -r requirements.txt

Usage

Run the application

python -m pystuart
# or, after pip install
stewart-platform

GUI tabs

• Manual - platform sliders, presets, trajectory animation, workspace analysis
• Cueing - pick a telemetry source (Assetto Corsa UDP or CSV replay) and run it through the washout chain; the 3D view shows the resulting platform motion live
• Hardware - connect to the Bridge over serial, stream the current pose to the servos as calibrated CMD_ACT targets, watch SRV_FB / PWR_MON feedback; torque is released on disconnect and on window close

Headless runner

python -m pystuart.apps.headless ac --serial COM7
# or, after pip install
pystuart-headless csv recording.csv --serial COM7

Controls

Platform Control:

• Translation sliders (X, Y, Z): Move platform position
• Rotation sliders (Roll, Pitch, Yaw): Rotate platform orientation
• Reset Pose: Return platform to initial position
• Reset Camera: Reset camera view

Camera Control:

• Left mouse: Rotate camera around scene
• Right mouse: Pan camera
• Middle mouse: Vertical offset
• Mouse wheel: Zoom in/out

Project Structure

PyStuart/
├── src/pystuart/
│   ├── core/        # IK, geometry, limits (pure numpy)
│   ├── cueing/      # washout filters, telemetry sources (planned)
│   ├── transport/   # USB CDC / BLE / UDP hardware links (planned)
│   ├── gui/         # PyQt6 widgets and OpenGL rendering
│   ├── apps/        # entry points (gui, headless)
│   └── __main__.py  # python -m pystuart
├── tests/           # pytest suite
├── samples/         # sample trajectories
├── docs/            # local working notes (not committed)
├── requirements.txt
└── pyproject.toml

Technical Details

Platform Parameters

Parameter	Value	Unit
Base radius	76	mm
Platform radius	60	mm
Horn length	40	mm
Rod length	130	mm
Initial height	120.28	mm

Coordinate System

• X-axis: Red
• Y-axis: Green
• Z-axis: Blue (vertical)

Running Tests

pip install pytest
python -m pytest

License

MIT License

Version

v2.0.0-dev