Test scene with robotic arm

Signed-off-by: Michał Pełka <[email protected]>

Assets/Importer/panda.prefab

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Assets/URDF/husky/husky.urdf

@@ -0,0 +1,372 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ../urdf/husky.urdf.xacro       | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--
+Software License Agreement (BSD)
+
+\file      husky.urdf.xacro
+\authors   Paul Bovbel <[email protected]>
+\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- Included URDF/XACRO Files -->
+  <material name="Black">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <material name="Blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="Green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="Grey">
+    <color rgba="0.7 0.7 0.7 1.0"/>
+  </material>
+  <material name="DarkGrey">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+  <material name="Red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="White">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <material name="Yellow">
+    <color rgba="0.8 0.8 0.0 1.0"/>
+  </material>
+  <!-- Base Size -->
+  <!-- Wheel Mounting Positions -->
+  <!-- Wheel Properties -->
+  <!-- Base link is on the ground under the robot -->
+  <link name="base_footprint"/>
+  <gazebo reference="base_footprint">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <joint name="chassis_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.14493"/>
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+  </joint>
+  <!-- Chassis link is the center of the robot's bottom plate -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/base_link.dae"/>
+      </geometry>
+      <material name="Black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.12498"/>
+      <geometry>
+        <!-- Make collision box slightly bigger in x and z directions. -->
+        <box size="1.0074 0.5709 0.2675"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="33.455"/>
+      <origin xyz="-0.08748 -0.00085 0.09947"/>
+      <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296"/>
+    </inertial>
+  </link>
+  <gazebo reference="base_link">
+    </gazebo>
+  <!-- IMU Link is the standard mounting position for the UM6 IMU.-->
+  <!-- Can be modified with environment variables in /etc/ros/setup.bash -->
+  <link name="imu_link"/>
+  <joint name="imu_joint" type="fixed">
+    <origin rpy="0 -1.5708 3.1416" xyz="0.19 0 0.149"/>
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+  </joint>
+  <gazebo reference="imu_link">
+    </gazebo>
+  <!-- Husky wheel macros -->
+  <link name="front_left_wheel_link">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wheel.dae"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.17775"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="front_left_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+  <joint name="front_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="front_left_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="front_left_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="front_left_wheel">
+      <hardwareInterface>VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="front_right_wheel_link">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wheel.dae"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.17775"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="front_right_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+  <joint name="front_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_right_wheel_link"/>
+    <origin rpy="0 0 0" xyz="0.256 -0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="front_right_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="front_right_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="front_right_wheel">
+      <hardwareInterface>VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="rear_left_wheel_link">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wheel.dae"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.17775"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="rear_left_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+  <joint name="rear_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="-0.256 0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="rear_left_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="rear_left_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="rear_left_wheel">
+      <hardwareInterface>VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="rear_right_wheel_link">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wheel.dae"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.17775"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="rear_right_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+  <joint name="rear_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_right_wheel_link"/>
+    <origin rpy="0 0 0" xyz="-0.256 -0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="rear_right_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="rear_right_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="rear_right_wheel">
+      <hardwareInterface>VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="top_plate_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/top_plate.stl"/>
+      </geometry>
+      <material name="Yellow"/>
+    </visual>
+  </link>
+  <joint name="top_plate" type="fixed">
+    <parent link="base_link"/>
+    <child link="top_plate_link"/>
+  </joint>
+  <gazebo reference="top_plate_link">
+    <material>Gazebo/Yellow</material>
+  </gazebo>
+  <link name="user_rail_link">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/user_rail.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+  </link>
+  <joint name="user_rail" type="fixed">
+    <origin rpy="0 0 0" xyz="0.272 0 0.245"/>
+    <parent link="base_link"/>
+    <child link="user_rail_link"/>
+  </joint>
+  <gazebo reference="user_rail_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="front_bumper_link">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/bumper.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+  </link>
+  <joint name="front_bumper" type="fixed">
+    <origin rpy="0 0 0" xyz="0.48 0 0.091"/>
+    <parent link="base_link"/>
+    <child link="front_bumper_link"/>
+  </joint>
+  <gazebo reference="front_bumper_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="rear_bumper_link">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/bumper.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+  </link>
+  <joint name="rear_bumper" type="fixed">
+    <origin rpy="0 0 3.14159" xyz="-0.48 0 0.091"/>
+    <parent link="base_link"/>
+    <child link="rear_bumper_link"/>
+  </joint>
+  <gazebo reference="rear_bumper_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+</robot>

Assets/URDF/husky/license.txt

@@ -0,0 +1,22 @@
+Software License Agreement (BSD)
+
+\file      husky.urdf.xacro
+\authors   Paul Bovbel <[email protected]>
+\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Assets/URDF/panda_description/panda_description/meshes/collision/finger.stl.assetinfo

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Assets/URDF/panda_description/panda_description/meshes/collision/hand.stl.assetinfo

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Assets/URDF/panda_description/panda_description/meshes/collision/link0.stl.assetinfo

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Assets/URDF/panda_description/panda_description/meshes/collision/link1.stl.assetinfo

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Assets/URDF/panda_description/panda_description/panda.urdf

@@ -0,0 +1,554 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/andrej/ws/code/repos/panda_ign_moveit2/panda_description/urdf/panda.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!-- URDF for Franka Emika Panda -->
+<robot name="panda">
+  <link name="world">
+  </link>
+  <joint name="panda_joint_base" type="fixed">
+    <parent link="world"/>
+    <child link="panda_link0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_link0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link0.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.025566 -2.87883e-05 0.057332"/>
+      <mass value="2.814271300104062"/>
+      <inertia ixx="0.0075390636364814695" ixy="-1.5053124574783335e-05" ixz="-0.0012144328835738973" iyy="0.010508017427382959" iyz="1.0434803501032979e-05" izz="0.009864933638708275"/>
+    </inertial>
+  </link>
+  <gazebo reference="panda_link0">
+    <mu1 value="0.85"/>
+    <mu2 value="0.85"/>
+  </gazebo>
+  <joint name="panda_joint1" type="revolute">
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.897246558310587" upper="2.897246558310587" velocity="2.6179938779914944"/>
+    <dynamics damping="21.75" friction="3.48"/>
+  </joint>
+  <transmission name="panda_joint1_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="panda_joint1">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="panda_joint1_actuator">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo reference="panda_joint1">
+    <springStiffness value="0.0"/>
+    <springReference value="0.0"/>
+  </gazebo>
+  <link name="panda_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-3.72212e-09 -0.0324958 -0.0675818"/>
+      <mass value="2.6433170427227215"/>
+      <inertia ixx="0.017405076982879724" ixy="-8.687986369621078e-09" ixz="-1.6277819062920423e-08" iyy="0.015352077935781732" iyz="0.004510855959102245" izz="0.005987891663073857"/>
+    </inertial>
+  </link>
+  <gazebo reference="panda_link1">
+    <mu1 value="0.85"/>
+    <mu2 value="0.85"/>
+  </gazebo>
+  <joint name="panda_joint2" type="revolute">
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7627825445142729" upper="1.7627825445142729" velocity="2.6179938779914944"/>
+    <dynamics damping="21.75" friction="3.48"/>
+  </joint>
+  <transmission name="panda_joint2_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="panda_joint2">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="panda_joint2_actuator">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo reference="panda_joint2">
+    <springStiffness value="0.0"/>
+    <springReference value="0.0"/>
+  </gazebo>
+  <link name="panda_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="3.17833e-07 -0.06861 0.0322285"/>
+      <mass value="2.6652755331661186"/>
+      <inertia ixx="0.01778694005635383" ixy="8.70635625879119e-08" ixz="3.752072058394008e-08" iyy="0.006044133867952844" iyz="-0.004599490295490376" izz="0.01571095500455695"/>
+    </inertial>
+  </link>
+  <gazebo reference="panda_link2">
+    <mu1 value="0.85"/>
+    <mu2 value="0.85"/>
+  </gazebo>
+  <joint name="panda_joint3" type="revolute">
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.897246558310587" upper="2.897246558310587" velocity="2.6179938779914944"/>
+    <dynamics damping="21.75" friction="3.48"/>
+  </joint>
+  <transmission name="panda_joint3_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="panda_joint3">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="panda_joint3_actuator">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo reference="panda_joint3">
+    <springStiffness value="0.0"/>
+    <springReference value="0.0"/>
+  </gazebo>
+  <link name="panda_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0469893 0.0316374 -0.031704"/>
+      <mass value="2.3293714829045733"/>
+      <inertia ixx="0.0075496764161139766" ixy="-0.0024320464513492225" ixz="-0.003250815048103007" iyy="0.009680676080191398" iyz="-0.0021316282421730694" izz="0.007944557422008086"/>
+    </inertial>
+  </link>
+  <gazebo reference="panda_link3">
+    <mu1 value="0.85"/>
+    <mu2 value="0.85"/>
+  </gazebo>
+  <joint name="panda_joint4" type="revolute">
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.07177948351002" upper="-0.06981317007977318" velocity="2.6179938779914944"/>
+    <dynamics damping="21.75" friction="3.48"/>
+  </joint>
+  <transmission name="panda_joint4_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="panda_joint4">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="panda_joint4_actuator">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo reference="panda_joint4">
+    <springStiffness value="0.0"/>
+    <springReference value="0.0"/>
+  </gazebo>
+  <link name="panda_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link4.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0360505 0.0337069 0.0319019"/>
+      <mass value="2.3104763646281508"/>
+      <inertia ixx="0.007764568814864828" ixy="0.003371475204045935" ixz="-0.002343621113168248" iyy="0.008015776929980149" iyz="0.0022917526161470624" izz="0.009955882308071066"/>
+    </inertial>
+  </link>
+  <gazebo reference="panda_link4">
+    <mu1 value="0.85"/>
+    <mu2 value="0.85"/>
+  </gazebo>
+  <joint name="panda_joint5" type="revolute">
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.897246558310587" upper="2.897246558310587" velocity="3.141592653589793"/>
+    <dynamics damping="3.0" friction="0.48"/>
+  </joint>
+  <transmission name="panda_joint5_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="panda_joint5">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="panda_joint5_actuator">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo reference="panda_joint5">
+    <springStiffness value="0.0"/>
+    <springReference value="0.0"/>
+  </gazebo>
+  <link name="panda_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link5.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-6.12525e-06 0.0610427 -0.104176"/>
+      <mass value="2.6226426154892004"/>
+      <inertia ixx="0.029070538014399377" ixy="6.208738268725568e-07" ixz="-1.0059151925023392e-05" iyy="0.027638529986528795" iyz="-0.007424306477850814" izz="0.004251111234400737"/>
+    </inertial>
+  </link>
+  <gazebo reference="panda_link5">
+    <mu1 value="0.85"/>
+    <mu2 value="0.85"/>
+  </gazebo>
+  <joint name="panda_joint6" type="revolute">
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.017453292519943295" upper="3.752457891787808" velocity="3.141592653589793"/>
+    <dynamics damping="3.0" friction="0.48"/>
+  </joint>
+  <transmission name="panda_joint6_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="panda_joint6">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="panda_joint6_actuator">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo reference="panda_joint6">
+    <springStiffness value="0.0"/>
+    <springReference value="0.0"/>
+  </gazebo>
+  <link name="panda_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link6.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.051051 0.00910797 0.0106343"/>
+      <mass value="1.5025804886626795"/>
+      <inertia ixx="0.002940555801469018" ixy="-0.00042391108351381507" ixz="0.000610007735338717" iyy="0.00392105201248677" iyz="0.00012647545430836214" izz="0.0054115603870960195"/>
+    </inertial>
+  </link>
+  <gazebo reference="panda_link6">
+    <mu1 value="0.85"/>
+    <mu2 value="0.85"/>
+  </gazebo>
+  <joint name="panda_joint7" type="revolute">
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.897246558310587" upper="2.897246558310587" velocity="3.141592653589793"/>
+    <dynamics damping="3.0" friction="0.48"/>
+  </joint>
+  <transmission name="panda_joint7_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="panda_joint7">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="panda_joint7_actuator">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo reference="panda_joint7">
+    <springStiffness value="0.0"/>
+    <springReference value="0.0"/>
+  </gazebo>
+  <link name="panda_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link7.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0109695 0.0107965 0.0650412"/>
+      <mass value="0.5237668134788256"/>
+      <inertia ixx="0.0008621467959726535" ixy="-0.00011871071570425467" ixz="3.866602604509339e-05" iyy="0.0008613100184801048" iyz="-9.057841649422724e-05" izz="0.0006961139396618219"/>
+    </inertial>
+  </link>
+  <gazebo reference="panda_link7">
+    <mu1 value="0.85"/>
+    <mu2 value="0.85"/>
+  </gazebo>
+  <link name="panda_link8">
+  </link>
+  <joint name="panda_link8_virtual_joint" type="fixed">
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+    <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0.107"/>
+  </joint>
+  <ros2_control name="panda_arm_system" type="system">
+    <hardware>
+      <plugin>ign_ros2_control/IgnitionSystem</plugin>
+    </hardware>
+    <joint name="panda_joint1">
+      <param name="initial_position">0.0</param>
+      <command_interface name="effort"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="panda_joint2">
+      <param name="initial_position">-0.7853981633974483</param>
+      <command_interface name="effort"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="panda_joint3">
+      <param name="initial_position">0.0</param>
+      <command_interface name="effort"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="panda_joint4">
+      <param name="initial_position">-2.356194490192345</param>
+      <command_interface name="effort"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="panda_joint5">
+      <param name="initial_position">0.0</param>
+      <command_interface name="effort"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="panda_joint6">
+      <param name="initial_position">1.5707963267948966</param>
+      <command_interface name="effort"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="panda_joint7">
+      <param name="initial_position">0.7853981633974483</param>
+      <command_interface name="effort"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+  </ros2_control>
+  <joint name="panda_joint_wrist" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/hand.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/hand.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-6.7624e-06 0.00152435 0.0275912"/>
+      <mass value="0.14060765127978503"/>
+      <inertia ixx="0.0005365450414352072" ixy="1.7911952957732454e-08" ixz="-2.320071910601251e-08" iyy="7.70511954783727e-05" iyz="4.681149945315967e-08" izz="0.0004938176882694914"/>
+    </inertial>
+  </link>
+  <gazebo reference="panda_hand">
+    <mu1 value="0.85"/>
+    <mu2 value="0.85"/>
+  </gazebo>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="20" lower="0" upper="0.04" velocity="0.2"/>
+    <dynamics damping="3.0" friction="0.4"/>
+  </joint>
+  <transmission name="panda_finger_joint1_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="panda_finger_joint1">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="panda_finger_joint1_actuator">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo reference="panda_finger_joint1">
+    <springStiffness value="0.0"/>
+    <springReference value="0.0"/>
+  </gazebo>
+  <link name="panda_leftfinger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/finger.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-6.2561e-06 0.00227781 -0.0277116"/>
+      <mass value="0.2238453537819424"/>
+      <inertia ixx="6.74804167363695e-05" ixy="-4.1027443646025676e-09" ixz="1.8693673970152995e-08" iyy="6.627189221641395e-05" iyz="1.1967548474390802e-05" izz="1.550396267804825e-05"/>
+    </inertial>
+  </link>
+  <gazebo reference="panda_leftfinger">
+    <mu1 value="1.13"/>
+    <mu2 value="1.13"/>
+  </gazebo>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="20" lower="0" upper="0.04" velocity="0.2"/>
+    <dynamics damping="3.0" friction="0.4"/>
+  </joint>
+  <transmission name="panda_finger_joint2_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="panda_finger_joint2">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="panda_finger_joint2_actuator">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo reference="panda_finger_joint2">
+    <springStiffness value="0.0"/>
+    <springReference value="0.0"/>
+  </gazebo>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/finger.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 3.141592653589793" xyz="-6.2561e-06 0.00227781 -0.0277116"/>
+      <mass value="0.2238453537819424"/>
+      <inertia ixx="6.74804167363695e-05" ixy="-4.1027443646025676e-09" ixz="1.8693673970152995e-08" iyy="6.627189221641395e-05" iyz="1.1967548474390802e-05" izz="1.550396267804825e-05"/>
+    </inertial>
+  </link>
+  <gazebo reference="panda_rightfinger">
+    <mu1 value="1.13"/>
+    <mu2 value="1.13"/>
+  </gazebo>
+  <link name="panda_hand_tcp">
+  </link>
+  <joint name="panda_hand_tcp_virtual_joint" type="fixed">
+    <parent link="panda_hand"/>
+    <child link="panda_hand_tcp"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1034"/>
+  </joint>
+  <ros2_control name="panda_gripper_system" type="system">
+    <hardware>
+      <plugin>ign_ros2_control/IgnitionSystem</plugin>
+    </hardware>
+    <joint name="panda_finger_joint1">
+      <param name="initial_position">0.0</param>
+      <command_interface name="effort"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="panda_finger_joint2">
+      <param name="initial_position">0.0</param>
+      <command_interface name="effort"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+  </ros2_control>
+  <gazebo>
+    <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+      <parameters>/home/andrej/ws/code/repos/panda_ign_moveit2/install/share/panda_moveit_config/config/controllers_effort.yaml</parameters>
+    </plugin>
+  </gazebo>
+</robot>

Gem/CMakeLists.txt

@@ -36,6 +36,8 @@ ly_add_target(
             Include
     BUILD_DEPENDENCIES
         PRIVATE
+            Gem::PhysX.Static
+            Gem::ImGui.Static
             AZ::AzGameFramework
             Gem::Atom_AtomBridge.Static
 )
@@ -51,6 +53,7 @@ ly_add_target(
             Include
     BUILD_DEPENDENCIES
         PRIVATE
+            Gem::ImGui.Static
             Gem::Physics_Test.Static
             AZ::AzCore
 )

Gem/Source/PhysXJointTestComponent.cpp

@@ -0,0 +1,85 @@
+/*
+* Copyright (c) Contributors to the Open 3D Engine Project.
+* For complete copyright and license terms please see the LICENSE at the root of this distribution.
+*
+* SPDX-License-Identifier: Apache-2.0 OR MIT
+*
+*/
+
+#include "PhysXJointTestComponent.h"
+
+
+#include <AzCore/Serialization/EditContext.h>
+#include <AzCore/Serialization/SerializeContext.h>
+#include <AzFramework/Components/TransformComponent.h>
+
+#include <imgui/imgui.h>
+#include <PhysX/Joint/PhysXJointBus.h>
+
+namespace TestScene
+{
+  void ImGuiJointDemo::Activate()
+  {
+    ImGui::ImGuiUpdateListenerBus::Handler::BusConnect();
+  }
+
+  void ImGuiJointDemo::Deactivate()
+  {
+    ImGui::ImGuiUpdateListenerBus::Handler::BusDisconnect();
+  }
+
+
+  void ImGuiJointDemo::Reflect(AZ::ReflectContext* context)
+  {
+    if (AZ::SerializeContext* serialize = azrtti_cast<AZ::SerializeContext*>(context))
+    {
+      serialize->Class<ImGuiJointDemo, AZ::Component>()
+          ->Version(3);
+
+      if (AZ::EditContext* ec = serialize->GetEditContext())
+      {
+        ec->Class<ImGuiJointDemo>("ImGuiJointDemo", "ImGuiJointDemo")
+            ->ClassElement(AZ::Edit::ClassElements::EditorData, "ImGuiJointDemo")
+            ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC("Game"))
+            ->Attribute(AZ::Edit::Attributes::Category, "TestScene");
+      }
+    }
+  }
+
+  void ImGuiJointDemo::OnImGuiUpdate()
+  {
+    float velocity{0};
+    float position{0};
+    AZStd::pair<float, float> limits{0,0};
+    PhysX::JointInterfaceRequestBus::EventResult(velocity,GetEntityId(), &PhysX::JointInterface::GetVelocity);
+    PhysX::JointInterfaceRequestBus::EventResult(position,GetEntityId(), &PhysX::JointInterface::GetPosition);
+    PhysX::JointInterfaceRequestBus::EventResult(limits,GetEntityId(), &PhysX::JointInterface::GetLimits);
+
+    ImGui::Begin("SimplePhysXJointDemo");
+
+    AZStd::string group_name = "Joint " +GetEntity()->GetName();
+
+    ImGui::Text("%s", GetEntity()->GetName().c_str());
+
+
+    ImGui::SliderFloat(AZStd::string("Position"+GetEntity()->GetName()).c_str()
+                           , &position, limits.first,limits.second);
+    ImGui::SliderFloat(AZStd::string("Velocity"+GetEntity()->GetName()).c_str()
+                           , &velocity, -5.f , 5.f);
+
+    ImGui::InputFloat(AZStd::string("Force"+GetEntity()->GetName()).c_str(), &m_forceSet);
+    ImGui::SliderFloat(AZStd::string("Command"+GetEntity()->GetName()).c_str(), &m_velocitySet, -5.f , 5.f);
+    ImGui::SameLine();
+    if (ImGui::Button(AZStd::string("Zero"+GetEntity()->GetName()).c_str())){
+      m_velocitySet = 0;
+    }
+
+    PhysX::JointInterfaceRequestBus::Event(GetEntityId(), &PhysX::JointInterface::SetVelocity, m_velocitySet);
+    PhysX::JointInterfaceRequestBus::Event(GetEntityId(), &PhysX::JointInterface::SetMaximumForce, m_forceSet);
+
+    ImGui::End();
+
+  }
+
+
+}

Gem/Source/PhysXJointTestComponent.h

@@ -0,0 +1,36 @@
+/*
+* Copyright (c) Contributors to the Open 3D Engine Project.
+* For complete copyright and license terms please see the LICENSE at the root of this distribution.
+*
+* SPDX-License-Identifier: Apache-2.0 OR MIT
+*
+*/
+#pragma once
+
+#include <AzCore/Component/Component.h>
+
+#include <ImGuiBus.h>
+namespace TestScene
+{
+//! Component responsible for storing counters of apples gathered by Kraken.
+class ImGuiJointDemo
+   : public AZ::Component
+    , public ImGui::ImGuiUpdateListenerBus::Handler
+{
+public:
+   AZ_COMPONENT(ImGuiJointDemo, "{12640e16-461e-450d-a1fa-88b6435fb8ab}", AZ::Component);
+   ImGuiJointDemo() = default;
+   ~ImGuiJointDemo() = default;
+   void Activate() override;
+   void Deactivate() override;
+   static void Reflect(AZ::ReflectContext* context);
+
+private:
+  void OnImGuiUpdate() override;
+
+  float m_velocitySet {0};
+  float m_forceSet {5000};
+
+
+};
+} // namespace AppleKraken

Gem/Source/Physics_TestModule.cpp

@@ -3,6 +3,7 @@
 #include <AzCore/Module/Module.h>
 
 #include "Physics_TestSystemComponent.h"
+#include "PhysXJointTestComponent.h"
 
 namespace Physics_Test
 {
@@ -19,6 +20,7 @@ namespace Physics_Test
             // Push results of [MyComponent]::CreateDescriptor() into m_descriptors here.
             m_descriptors.insert(m_descriptors.end(), {
                 Physics_TestSystemComponent::CreateDescriptor(),
+                TestScene::ImGuiJointDemo::CreateDescriptor()
             });
         }
 

Gem/enabled_gems.cmake

@@ -23,4 +23,5 @@ set(ENABLED_GEMS
     TextureAtlas
     WhiteBox
     PhysXDebug
+    ImGui
 )

Gem/physics_test_files.cmake

@@ -3,5 +3,7 @@ set(FILES
     Include/Physics_Test/Physics_TestBus.h
     Source/Physics_TestSystemComponent.cpp
     Source/Physics_TestSystemComponent.h
+    Source/PhysXJointTestComponent.cpp
+    Source/PhysXJointTestComponent.h
     enabled_gems.cmake
 )

Levels/Robot/Robot.prefab

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README.md

@@ -28,6 +28,7 @@ To build the project using the CLI interface on Windows or Linux follow [these i
 The project consists of the following levels:
 - [mobile_robot_physics](#mobile_robot_physics) - Mobile Robot Physics PoC
 - [manipulator_physics](#manipulator_physics) - Manipulator Physics PoC (`description on the way`)
+- [robotic_arm_physics] (#robotic_arm) - 
 
 In addition, the project includes 3 initial feasibility tests:
 - [robot_arm_test1](Doc/Initial_Feasibility_tests.md#robot_arm_test1)
@@ -85,3 +86,10 @@ The goal of this level is to test how a manipulator can be created using physics
 ## Initial feasibility tests
 
 [See here](Doc/Initial_Feasibility_tests.md)
+
+
+# Robotic Arm
+Test level with improted robot using URDF importer. The scene is used to test developed API to PhysX joints.
+It is using this experimental branch from O3DE: https://github.com/michalpelka/o3de/tree/add_physx_joint_control
+
+![Robotic arm simulation](Doc/robotic_arm.gif)

Registry/sceneassetimporter.setreg

@@ -0,0 +1,40 @@
+{
+	"O3DE":
+	{
+		"SceneAPI":
+		{
+			"AssetImporter":
+			{
+				"SupportedFileTypeExtensions":
+				[
+					".dae",
+					".fbx",
+					".stl",
+					".gltf",
+					".glb"
+				]
+			},
+			"MaterialConverter": 
+			{
+				"Enable": true,
+				"DefaultMaterial": "Materials/Presets/PBR/default_grid.material"
+			},
+			"TangentGenerateComponent":
+			{
+				"DefaultGenerationMethod": "FromSourceScene",
+				"DebugBitangentFlip": false
+			},
+			"SkinRule":
+			{
+				"DefaultMaxSkinInfluencesPerVertex": 8,
+				"DefaultWeightThreshold": 0.001
+			},
+			"ModelBuilder": 
+			{
+				// When false, scenes with multiple meshes assigned to the same material but with different vertex layouts will successfully process
+				// When true, stricter error checking will cause the asset to fail to process with an error message indicating why
+				"MismatchedVertexLayoutsAreErrors": false 
+			}
+		}
+	}
+}

project.json

@@ -12,10 +12,10 @@
         "Physics_Test"
     ],
     "icon_path": "preview.png",
-    "engine": "o3de_dev",
+    "engine": "o3de",
     "external_subdirectories": [
         "Gem"
     ],
     "restricted": "o3de-physics-test-scene",
-    "gem_names": []
+    "gem_names": ["ROS2"]
 }