A high-precision simulator for excavation and transportation with shovels and dump trucks that you can try right away!
AGX Dynamics
Experience a construction machinery simulator implemented with AGX Dynamics' high-precision soil model. It is also possible to measure soil volume and obtain construction machinery parameters.
A high-precision, high-performance construction machinery simulator using the physics engine "AGX Dynamics," capable of simulating soil behavior, has been released by the Public Works Research Institute. (Available for download below) https://github.com/pwri-opera Built with Unity, it has implemented the soil model from AGX Dynamics. The models for the excavator and dump truck are also available in a state that allows for physical simulation, designed to be operated from game controllers or external controllers built with ROS. It enables the simulation of soil excavation with the excavator, loading onto the dump truck, transportation, and dumping, allowing for the acquisition of data such as soil volume, mass, and the forces acting on the joints of the machinery. It is also possible to develop a more advanced simulator using Unity's C# scripting and the AGX Dynamics Unity plugin. Using this construction machinery simulator, you can easily test AGX Dynamics simulations, understand performance, and also experiment with coupling with your own tools.
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basic information
"AGX Dynamics" is a development tool for building simulators. It is utilized in a wide range of fields, including construction machinery, soil, robots, and cranes. Among these, computer simulation of soil is a new technology that is currently being used in advanced development and research by major construction machinery manufacturers, national research institutes, and universities. This development tool has a high level of versatility, allowing users to build their own simulators. While it is possible to further develop based on this simulator, depending on the application of the simulator, it is also possible to create interfaces using languages like C++ instead of Unity, or to utilize other game engines like Unreal Engine. Our company also offers consulting services to help users build truly usable simulator tools. We provide advice based on our expertise regarding feasibility, cost, and development scale. Additionally, we offer a one-month free trial.
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Applications/Examples of results
In Japan and Europe, there are case studies in the following industries and applications. 【Industries】 Industrial robot manufacturers Construction and civil engineering machinery manufacturers Large machinery manufacturers Automobile manufacturers Electronics manufacturers General contractors Research institutions Universities
Detailed information
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It is a simulation of a wheel loader, terrain (soft ground), and earth excavation. It supports high-precision applications such as construction machinery and heavy equipment design and control verification, as well as high-speed simulations focused on real-time performance for training simulators. Recently, it is expected to be utilized in various developments aimed at construction automation.
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We are conducting simulations of rigid body grasping by robots. Generally, it is difficult to maintain stable grasping states, but it is possible to handle them stably by optimizing the constraints. Additionally, various parameters can be obtained within the simulation, such as reaction forces at contact points and the torque of each robot axis, making it a promising application for use in teaching-less scenarios and in conjunction with artificial intelligence.
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This is a cable simulation. AGX Dynamics handles rigid body constraint simulations, so it fundamentally cannot manage flexible materials. In this cable simulation, the cable is represented by connecting many small rigid bodies with constraints, and by setting parameters for damping and elasticity in those constraints, we can reproduce the behavior of the cable we want to simulate. Additionally, this simulation allows for constraints with six degrees of freedom, which means it considers not only movement but also rotation. Therefore, it is possible to reproduce twisting phenomena as well. The advantage of AGX Dynamics' physics engine lies in the fact that connecting rigid bodies continuously with constraints that have six degrees of freedom does not lead to simulation divergence, and this is a point where the direct method solver technically excels. This advantage is not only applicable to cables but also demonstrates superiority in accuracy and performance in simulations of mechanisms where each rigid body is stiffly connected, such as industrial robots and construction machinery.
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Company information
We provide technical consulting and contract development related to the construction of physical simulations. In collaboration with Algoryx Simulation AB in Sweden, we offer technical consulting for customers who wish to implement the professional-use physics engine "AGX Dynamics" into user applications and build custom simulators. Building a physical simulation environment requires a wide range of knowledge, including system planning, modeling, system identification, and modeling techniques, as well as physics, engineering, and mathematics. Additionally, various tools such as 3D CAD, programming languages like Python and C++, game engines, and control software like Matlab/Simulink may be needed for usage and integration. Our technical support team, which can provide these technologies in a one-stop manner, is our strength and characteristic.