https://github.com/o3de/o3de-physics-test-scene

https://github.com/o3de/o3de-physics-test-scene

Last synced: over 1 year ago
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• Host: GitHub
• URL: https://github.com/o3de/o3de-physics-test-scene
• Owner: o3de
• License: apache-2.0
• Created: 2022-08-09T08:41:11.000Z (about 4 years ago)
• Default Branch: main
• Last Pushed: 2023-10-30T19:39:16.000Z (almost 3 years ago)
• Last Synced: 2025-03-29T12:51:24.256Z (over 1 year ago)
• Language: C++
• Size: 303 MB
• Stars: 6
• Watchers: 3
• Forks: 4
• Open Issues: 9
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# 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 

- O3DE [from this repository/branch](https://github.com/o3de/o3de)

## Running the demo

Follow the [O3DE ROS Gem README instructions](https://github.com/RobotecAI/o3de-ros2-gem/blob/mecanum_control/README.md) to build O3DE and ROS Gem.

## Contents

The project consists of the following levels:

- [mobile_robot_physics](#robotic_arm) - Robotic Arm

- [mobile_robot_physics](#skid_steering) - Skid Steering

- [mobile_robot_physics](#mecanum_test) - Mecanum test

In addition, the project includes following initial feasibility tests:

- [mobile_robot_physics](Doc/Initial_Feasibility_tests.md#mobile_robot_physics) - Mobile Robot Physics PoC

- [manipulator_physics](Doc/Initial_Feasibility_tests.md#manipulator_physics) - Manipulator Physics PoC 

- [robot_arm_test1](Doc/Initial_Feasibility_tests.md#robot_arm_test1)

- [robot_arm_test2](Doc/Initial_Feasibility_tests.md#robot_arm_test2)

- [mobile_robot1](Doc/Initial_Feasibility_tests.md#mobile_robot1)

# Robotic Arm

Level name `robotic_arm.prefab`

Test level with improted robot using URDF importer. The scene is used to test developed API to PhysX joints.

![Robotic arm simulation](Doc/robotic_arm.gif)

# Skid Steering

Level name `skid_steering_test.prefab`

Test level with improted robot using URDF importer. The scene is used to test developed API to PhysX joints.

![Robotic arm simulation](Doc/skid_steering.gif)

# Mecanum test

Level name `mecanum_test.prefab`

Test level with improted robot using URDF importer. The scene is used to test developed API to PhysX joints.

![Robotic arm simulation](Doc/mecanum.gif)

# Gripper Test

Level name `GripperTest.prefab`

![Gripper Simulation simulation](Doc/gripper.gif)

## Initial feasibility tests

[See here](Doc/Initial_Feasibility_tests.md)