Questions about customizing the 3d model ?

[sfranzyshen]

Hi! First let me say how impressive your work is ... I tip my hat to your skills!

I am part of a non profit organization starting up for the purpose of advancing development and promoting the Ottodiy Robot Community. we are interested in the utilization of otto-simulator within another project and potentially changing the 3d model used. I am not familiar enough with the Gym Interface mentioned on the website ... is this the same as gymlibrary.dev? where might we find information about how to add or change the "otto.mesh.bin" or hints at how it was constructed?

Thank You Again for the fun work you do!

[szabolcsdombi]

Hello and Thank You.

I have asked for a specific otto model on the Discord Channel, because I wanted to make this simulation look almost exactly the same as the Otto on my desk. I have loaded the 3d print files in blender and simplified it a bit. Mostly just removed the surfaces that are not visible or too detailed for this simulation demo.

Back at the days when openai-gym (now called gymnasium) was popular I made simulations in bulletphysics and exposed a similar interface to this one. Usually it just means to support reset() step() observation_space and action_space and a score.

I am not sure if you are interested in the actual physics simulation or just the visualization part. Those two can be separated.

I have exported otto.mesh.bin (raw binary vertex data) from blender. I also exported the collision shapes that approximate otto and the constraints which hinge together the parts.

I would love to help, please reach out in email or on discord.

[sfranzyshen]

I would love to help, please reach out in email or on discord.

Thank you for your quick response. I am composing a email with more details about our organization and projects. I look forward to corresponding with you soon.

[IvanR3D]

Hello and Thank You.

I have asked for a specific otto model on the Discord Channel, because I wanted to make this simulation look almost exactly the same as the Otto on my desk. I have loaded the 3d print files in blender and simplified it a bit. Mostly just removed the surfaces that are not visible or too detailed for this simulation demo.

Back at the days when openai-gym (now called gymnasium) was popular I made simulations in bulletphysics and exposed a similar interface to this one. Usually it just means to support reset() step() observation_space and action_space and a score.

I am not sure if you are interested in the actual physics simulation or just the visualization part. Those two can be separated.

I have exported otto.mesh.bin (raw binary vertex data) from blender. I also exported the collision shapes that approximate otto and the constraints which hinge together the parts.

I would love to help, please reach out in email or on discord.

Hi, is there any list of commands to test the editor? It looks pretty good! But I don't see how is possible to control the Otto. By changing the numbers is possible to change the offset of the movement but I cannot figure out how to make moves like forward, backward, etc.

[szabolcsdombi]

Currently the observation space is empty, because I did not need the distance from the HC-SR04. The action space is four angles for the step motors.

https://szabolcsdombi.com/otto-simulator/editor/

The simulation timestep is 1.0/300.0 seconds. So in the editor above, for each render frame there are 5 substeps simulated.

This is just a sample how the simulation can be used from python. It could have had a different interface.

[szabolcsdombi]

To make moves you need to feed in the right angles per frame. For example in play mode with a few sines otto can walk forward. Keep Pressing number 4 and 5 on your keyboard here:

https://szabolcsdombi.com/otto-simulator/play/

the animations are simple sine waves and are blended together with mix/add similar to blender NLA tracks.

[szabolcsdombi]