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

Running the demo

Follow the O3DE ROS Gem README instructions to build O3DE and ROS Gem.

Contents

The project consists of the following levels:

• mobile_robot_physics - Robotic Arm
• mobile_robot_physics - Skid Steering
• mobile_robot_physics - Mecanum test

In addition, the project includes following initial feasibility tests:

• mobile_robot_physics - Mobile Robot Physics PoC
• manipulator_physics - Manipulator Physics PoC
• robot_arm_test1
• robot_arm_test2
• 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.

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.

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.

Gripper Test

Level name GripperTest.prefab

Initial feasibility tests

See here