This project aims at providing tools to test 3d robot control programs. These programs could be implemented by manually programming robotic control laws, reinforcement learning...

• Platform: Windows 64bits
• License: GPLv3
• Languages: C++17 (engine, control programs), Lua

Demo: simple stability test

• Insight - AI experiment platform
• Table of contents
• Install
• Usage
  • Demo scripts
  • Executing other scripts
  • 3d window usage
• First Lua scripts
  • Physics
  • Robotics
  • AIs
• Compiling

• Download precompiled binaries from the release page
• Unzip anywhere on your hard drive
• Launch the main program: Insight.exe

The program currently launch 2 windows:

• A terminal, used to execute empty commands
• A 3d window, displaying the world (by default empty)

The default init script will print an help message, listing a few demo scripts. They can be executed by typing any of the following line into the console:

demos.shapes()
demos.physics()
demos.robots()

You can rewrite the default init.lua later.

Typing Lua commands one by one in the shell soon gets tedious. You can write more complex program in files, then execute them.

The Lua command dofile can be used to launch any script. For example, the following command will execute a script modifying the settings of the 3d window:

# Assuming the working directory is the same as the binary.
dofile("lua/settings.lua")

The window must have the focus before doing anything with it.

The camera can be moved using the WASD keys, and "Left Ctrl" and "Space" for vertical translation.

To turn the camera around, first press the Q key to lock the mouse, then just move the mouse around. Press Q again to unlock the mouse.

Bindings can be modified from the terminal: azerty.lua or qwerty.lua are provided as examples. Settings like mouse sensitivity or camera speed can be modified the same way: see settings.lua for example.

The main instance of the World class can be found at insight.world in Lua scripts.

New bodies can be created using the insight.world:newBody() method. It takes a Shape object as argument. See demoShapes.lua for a list of all shapes.

sphere = insight.world:newBody({
    shape= {
        type= "Sphere",
        params= {
            radius= 0.3, -- m
            density= 1000, -- kg/m^3
        },
    },
})

The return value is the created Body. It can be used to move it in the world:

sphere:setPosition({0,5,0}) -- Move the sphere upwards
sphere:setVelocity({-1,0,0}) -- Gives horizontal velocity

See the physics Readme for a more details.

New robots can be created as follows:

newRobot = insight:newRobot(constructionInfo,aiInfo)

Where:

• constructionInfo is an object describing the body of the robot.
• aiInfo is an object describing the control program.

The constructionInfo part can be constructed from a Lua table with the following fields:

• parts: a table of shapes indexed by names.
• basePart: name of the "reference" part (used for easier manipulation).
• joints: a table of JointInfos indexed by names. Currently, 1 or 3 degree of freedom (dof) joints are supported. They can optionally include friction/damping, and motors.

Examples of constructionInfo tables are provided in the following scripts:

• ballBotInfo, a simple robot with a single 3-dof joint.
• pendulumInfo, a pendulum with a single 1-dof joint.
• androidInfo for a more complex example.

Here's a full sample code to create a new android:

androidInfo = require("robots/androidInfo")
newAndroid = insight:newRobot(androidInfo, {type="feedback"})

-- Move the "basePart" to the designated coordinates, and all other parts of the robot to keep
-- the relative position of each parts.
newAndroid:setPosition({0,0,5})

Currently, AIs (or control laws) can't be implemented from Lua. An extremely basic control law is provided as a placeholder, named feedback. It can be instanciated like this:

newAndroid = insight:newRobot(androidInfo, {type="feedback"})

Future versions will include ways to program AIs/control loops at runtime.

• Platform: Windows 64 bits
• Compiler: g++ 7.3.0, posix threads, seh exceptions (from MinGW-W64-builds-4.3.4).
• CMake: v3.9 or higher

3-rd party libraries (thanks to all the contributors of these projects):

• Bullet physics 3 v2.88
• Boost v1.61
• Irrlicht v1.8.3
• lua53 v5.3.4 (compiled in c++)
• catch v1.3.4 (unit tests only), included in this repository.

While the 3rd party libraries & this code should be portable to other platforms (linux/macOs) or other compilers, this has never been attempted before (so unlikely to work without some tweaking).

If you want to build from the sources, or contribute to this project, feel free to contact me for help.