Demonstration scenes using the agxTerrain API
agxTerrain is a library consisting of classes that implement a deformable terrain model based a symmetric 3D grid data structure with an overlapping surface heightfield that can be deformed by interacting Shovel objects performing digging motions, converting solid mass to dynamic mass which can be moved.
For more details, we refer to the technical report.
All Python based tutorials can be found in <agxDir>/data/python/tutorials.
Most of the scripts can be started both with the python executable and agxViewer.
To run these tutorials, AGX needs to be installed on the
computer. The .agxScene, .agxPy file suffix is associated to
the application agxViewer which will be executed for
the links below.
If you want to start one of the scripts manually in a command window, just write:
agxviewer agxTerrain\excavator_365_terrain.agxPy
When starting agxViewer via this page, it starts by default in paused mode. Remember to press 'e' to start simulation.
Press '1' to reload the scenes.
Basic excavator
This script demonstrates the basic setup of an excavator controlled using the keyboard. Keyboard control:
- Left/Right - Rotate arm
- Up/Down - Control first link
- 'a'/'z' - Control second link
- 'd'/'c' - Control third link (bucket)
- Setup and configure a terrain
- Build and configure a shovel
Bulldozer demonstration (D10)
This script demonstrates a scene with an bulldozer (D10) and a deformable soil simulation.
A Gamepad (XBox365) is the preferrable choice for controlling the excavator
If you do not have a gamepad, the control can be done using the keyboard:
Keyboard:
- KEY_Up: forward
- KEY_Down: reverse
- KEY_Left: steer left
- KEY_Right: steer right
- 'a': shovel lift up
- 'z': shovel lift down
- 's': shovel tilt up
- 'x': shovel tilt down
- KEY_Home ripper lift up
- KEY_End ripper lift down
- KEY_PageDown ripper pitch in
- KEY_Delete ripper pitch out
Gamepad (Xbox like):
- Increase Throttle: Up on D-pad (Throttle)
- Decrease Throttle: Down on D-pad (Throttle)
- Braking: Left trigger button (Brake Pedal)
- Deacceleration: Right trigger button (Deaccelerator Right Pedal)
- Engage Forward Movement: B button
- Engage Backward Movement: A button
- Toggle Between Gear/Brake on Left Track: L eft arrow on D-pad (Left hand middle finger - Left Track: Gear, Clutch, Brake)
- Toggle Between Gear/Brake on Right Track: Right arrow on D-pad (Left hand index Finger - Right Track: Gear, Clutch, Brake)
- Lower Shovel: Forward on Right Stick (Shovel Joystick)
- Raise Shovel: Backward on Right Stick (Shovel Joystick)
- Twist Shovel Left: Left on Right Stick (Shovel Joystick)
- Twist Shovel Right: Right on Right Stick (Shovel Joystick)
- Adjust Tilt of Blade Forward: X button (Shovel Joystick left thumb)
- Adjust Tilt of Blade Backward: B button (Shovel Joystick right thumb)
- Lower Ripper: Stick up on Left Stick (Ripper Handle - Thumb upper)
- Raise Ripper: Stick down on Left Stick (Ripper Handle - Thumb lower)
- Pitch Ripper Inward: Stick left on Left Stick (Ripper Handle - Middle finger)
- Pitch Ripper Outward: Stick right on Left Stick (Ripper Handle - Index finger)
Excavator demonstration (E85)
This script demonstrates a scene with an excavator (E85) and a deformable soil simulation.
An automatic digging sequence can be started by pressing '2'
A Gamepad (XBox365) is the preferrable choice for controlling the excavator
If you do not have a gamepad, the control can be done using the keyboard:
Controlling the tracks:
- Page Up: Drive right forward
- Page Down: Drive right backward
- Home: Drive left forward
- End: Drive left backward
Controlling the Cabin/Arm/Bucket:
Keyboard:
- Up: arm up
- Down: arm down
- Left: Rotate cabin left
- Right: Rotate cabin right
- 'a': Bucket up
- 'z': bucket down
- 's': stick up
- 'x': stick down
- 'x': stick down
- 'o': Articulate Arm left
- 'p': Articulate Arm right
- 'n': Tilt bucket left
- 'm': Tilt bucket right
- 'd': Blade up
- 'c': Blade down
Gamepad (Xbox like):
- Arm: Left_Vertical
- Bucket: Left_Horizontal
- Boom: Right_Vertical
- Cabin: Right_Horizontal
- Tilt: X/Y button
- Swing: A/B button
- Blade: Bumper buttons
- Drive: Pov North/South
336 Excavator demonstration
This script demonstrates a scene with an 336 excavator and a deformable soil simulation.
An automatic digging sequence can be started by pressing '2'
If you do not have a gamepad, the control can be done using the keyboard:
Controlling the tracks:
- Left Forward: Home
- Left Reverse: End
- Right Forward: PageUp
- Right Reverse: PageDown
Controlling the Cabin/Arm/Bucket:
Keyboard:
- Arm down: 'z'
- Arm up: 'a'
- Bucket down: 's'
- Bucket up: 'x'
- Boom down: Down
- Boom up: Up
Gamepad (Xbox like):
- Arm: Left_Vertical
- Bucket: Left_Horizontal
- Boom: Right_Vertical
- Cabin: Right_Horizontal
365 Excavator demonstration
This script demonstrates a scene with an 365 excavator and a deformable soil simulation.
An automatic digging sequence can be started by pressing '2'
If you do not have a gamepad, the control can be done using the keyboard:
Controlling the tracks:
- Left Forward: Home
- Left Reverse: End
- Right Forward: PageUp
- Right Reverse: PageDown
Controlling the Cabin/Arm/Bucket:
Keyboard:
- Arm down: 'z'
- Arm up: 'a'
- Bucket down: 's'
- Bucket up: 'x'
- Boom down: Down
- Boom up: Up
Gamepad (Xbox like):
- Arm: Left_Vertical
- Bucket: Left_Horizontal
- Boom: Right_Vertical
- Cabin: Right_Horizontal
Algoryx Wheel Loader
This script demonstrates a custom Algoryx wheel loader and a deformable soil simulation.
The control of the vehicle is done using the keyboard (or a Gamepad):
- Forward: 'a'
- Reverse: 'b'
- Turn Left: Left
- Turn Right: Right
Control the Bucket:
- Arm down: Down
- Arm up: Up
- Bucket down: 'x'
- Bucket up: 'a'
Control the Camera:
- PageUp: Lift the camera
- PageDown: Lower the camera
Wheel loader demonstration
This script demonstrates a scene with an wheel loader and a deformable soil simulation.
The control of the vehicle is done using the keyboard (or a Gamepad):
- Forward: 'a'
- Reverse: 'b'
- Turn Left: Left
- Turn Right: Right
Controlling the Bucket:
- Arm up: Up
- Arm down: Down
- Bucket up: 's'
- Bucket down: 'x'
Bucket wheel excavator
This script demonstrates a scene with an bucket wheel excavator digging material in a deformable terrain. Material is being transported on a conveyor belt as part of the machine.
Various wheel loader scenarios
This script show various wheel loader scenarios including one and two different wheel loaders
The control of the vehicle is done using the keyboard:
- Forward: Up
- Reverse: Down
- Turn Left: Left
- Turn Right: Right
Controlling the Bucket:
- Arm down: 'z'
- Arm up: 'a'
- Bucket down: 'x'
- Bucket up: 's'
Bulldozer demonstration
This script demonstrates a scene with a bulldozer and a deformable soil simulation.
Control the tracks using:
- Forward: Up
- Reverse: Down
- Turn left: Left
- Turn Right: Right
Control blade with:
- Up/down: 'a'/'z':
- Tilt forward/backward: 's'/'x':
