o3de-physics-test-scene

O3DE Physics tests

Testing physics in Open 3D Engine

The purpose of this project is to test the O3DE physics capabilities in the context of robotic simulations. Two main aspects are considered: robot chassis with wheel suspension (mobility) and a manipulator arm.

Requirements

This project requires the O3DE development branch. It was created on Windows with O3DE build with the date 2022.08.11 and commit #e57b0df5d6. In principle, it should work with newer versions. It should also work on Linux (not yet tested in its current form).

Running the demo

1. Follow O3DE documentation to Download and Build O3DE. Use the O3DE development branch.
2. Clone physics test repository git clone https://github.com/RobotecAI/o3de-physics-test-scene

Building the project using project manager on Windows:

1. Open O3DE project manager, select Open Existing Project (from the New Project... pull-down menu), and select o3de-physics-test-scene.
2. From the "hamburger menu" of the newly added project select Edit Project Settings... and select engine and hit Save.
3. Build Project
4. Open Editor
5. Load level

To build the project using the CLI interface on Windows or Linux follow these instructions. Before building the project on Linux register it with: $O3DE_DIR_PATH/scripts/o3de.sh register -pp $PROJECT_DIR_PATH.

Contents

The project consists of the following levels:

• mobile_robot_physics - Mobile Robot Physics PoC
• manipulator_physics - Manipulator Physics PoC (description on the way)

In addition, the project includes 3 initial feasibility tests:

• robot_arm_test1
• robot_arm_test2
• mobile_robot1

Mobile Robot Physics PoC

Level: mobile_robot_physics

The goal of this level is to test vehicle physics that can be applied to mobile robot. The scene contains a simple 4-wheels vehicle, with a spring-based suspension, which can be controlled using the keyboard. The vehicle can carry a payload, to test physics in different load conditions.

Instructions

• Use keyboard arrows to control the vehicle (speed and steering).
• Press Enter to drop the payload.
• Use WSAD and mouse to move the camera around the vehicle.
• To disable the payload (entity: payload), either set its rigid body to Kinematic or move it to the side.

Details

| | | --| |For a technical details refer to this document | |To read about issues and solutions/workarounds refer to this document |

Manipulator Physics PoC

Level: manipulator_physics

The goal of this level is to test how a manipulator can be created using physics implemented in O3DE. The scene contains a mock-up of an apple-picking robot with a fully functional 3 DOF manipulator. The manipulator performs linear movements in 3 directions:

• In X axis: horizontally, along the vehicle
• In Z axis: vertically
• In Y axis: horizontally, movement of the apple-gripper / suction tube

Instructions

• Use left and right arrows to move along the X axis. The movement is performed between predefined points.
• Use up and down arrows to move along the Z axis. The movement is performed between predefined points.
• Use space to slide out/in the gripper.

Details

| | | --| |For a technical details refer to this document | |To read about issues and solutions/workarounds refer to this document |

Initial feasibility tests

See here