Added dynamic generation and loading sdf file into gazebo functionality. #14

yaswanth1701 · 2024-03-12T20:38:29Z

Tested on: Ubuntu 20 and gazebo classic - 11

Description: Now instead of creating the whole model through gazebo C++ API using model msg, one can easy load sdf files generated from erb.world files. This feature allow for generation of desired configuration .world files at runtime to improve compatibility with other open-source simulators.

Issues: boxes_dt tests work well, however, boxes_model_count fails in the case of simbody. I have currently raised an issue at simbody regarding the error that is encountered in this case.

Steps to test the updates:

mkdir build && cd build 
cmake ..
make

To run all tests:

. /usr/share/gazebo/setup.bash
make test

To test individual cases:

boxes_dt

export GAZEBO_RESOURCE_PATH=/path/to/benchmark
. /usr/share/gazebo/setup.bash
./BENCHMARK_boxes_dt

boxes_model_count

./BENCHMARK_boxes_model_count

NOTE: Currently I have commented Simbody test cases in the boxes_model_count file as they are not working properly.

Signed-off-by: yaswanth1701 <[email protected]>

yaswanth1701 · 2024-03-13T06:40:15Z

DART is working now with sdf files.

scpeters · 2024-03-15T18:20:45Z

oops, I just merged #11, which conflicts with your changes to the python notebook (this is a drawback of python notebooks to be honest)

scpeters · 2024-03-15T22:36:43Z

worlds/boxes.world.erb

+  complex = ENV['complex'].to_i
+  dt = ENV['dt'].to_f
+  engine = ENV['engine']
+  collision = ENV['collision'].to_i


an alternative to environment variables is to set variables on the command-line (as suggested in https://stackoverflow.com/a/39675039 and used in srcsim) and you could use defined?(variable_name) to see if a value was set or not (see https://stackoverflow.com/a/288726)

done, can you please review it again?

yaswanth1701 · 2024-03-16T03:32:41Z

oops, I just merged #11, which conflicts with your changes to the python notebook (this is a drawback of python notebooks to be honest)

oh I see, I will pull the changes and force push.

Signed-off-by: yaswanth1701 <[email protected]>

scpeters · 2024-03-25T23:21:22Z

boxes.cc

  // Load a blank world (no ground plane)
-  Load("worlds/blank.world", true, _physicsEngine);
+  Load("worlds/boxes.world", true, _physicsEngine);


Suggested change

Load("worlds/boxes.world", true, _physicsEngine);

Load(WORLDS_FILE_PATH "/boxes.world", true, _physicsEngine);

you can tell the loader where the world file is so you don't have to set the GAZEBO_RESOURCE_PATH

scpeters · 2024-03-25T23:26:03Z

worlds/boxes.world.erb

@@ -23,8 +44,8 @@
 %>
 <sdf version="1.5">
  <world name="default">
-    <physics type="ode">
-      <max_step_size>0.001</max_step_size>
+    <physics type="<%= engine %>">


we don't technically need to encode the physics engine in the world file for boxes.cc because we can specify the physics engine by name when loading the world; these other parameters are good though

scpeters · 2024-03-25T23:30:53Z

boxes.cc

+  command << "erb "
+          << "engine=" << _physicsEngine << " model_count=" << _modelCount << " collision=" << _collision
+          << " complex=" << _complex << " dt=" << _dt << " " << WORLDS_FILE_PATH << "/boxes.world.erb > "
+          << WORLDS_FILE_PATH << "/boxes.world";


we could consider encoding the parameters in the name of the generated world:

boxes_collision1_complex0_dt1e-3_modelCount1000.world boxes_collision0_complex1_dt1e-2_modelCount10.world

then one could share the world and an output log file to document their results

yes, this would be nice, I have made the suggested changes could you please review it again?

scpeters

looks great! just a few small comments

scpeters · 2024-04-17T11:27:27Z

boxes.cc

+      boost::format(
+          "%1%/%2%/"
+          "boxes_collision%3%_complex%4%_dt%5$.0e_modelCount%6%.world") %
+      WORLDS_DIR_PATH % TEST_NAME % _collision % _complex % _dt % _modelCount);


If not for formatting the dt value, I would recommend using a stringstream instead of boost::format as I find it more readable to have the values expressed inline. It's too bad boost::format doesn't use the same formatting syntax as the c++20 formatting library.

We intentionally avoid using boost in gz-* libraries. Since gazebo-classic is already using boost, I think it's fine here, but we may want to avoid it when integrating with the newer gazebo

oh I see, I was using boost because it was already being used by gazebo classic. I will make sure to stick to stringstream for newer gazebo.

scpeters · 2024-04-17T11:40:50Z

boxes.cc

  ASSERT_EQ(v0, link->WorldCoGLinearVel());
  ASSERT_EQ(w0, link->WorldAngularVel());
  ASSERT_EQ(I0, link->GetInertial()->MOI());
-  ASSERT_NEAR(link->GetWorldEnergy(), E0, 1e-6);
+  ASSERT_NEAR(link->GetWorldEnergy(), E0, 1e-5);


these checks will only be executed for the link in the last model of models since they are outside the loop

scpeters · 2024-04-17T11:41:43Z

boxes.cc

  }
+  // adding a small delay (waiting for the model to load properly)
+  common::Time::MSleep(50);
+
  ASSERT_EQ(v0, link->WorldCoGLinearVel());


it could be nice to also check that the moment of inertia matrix in the body-fixed frame matches I0

Hi Steve, I have made the suggested changes could you please review them again ?

scpeters · 2024-05-02T04:27:48Z

thanks for your patience; this looks great!

yaswanth1701 · 2024-05-02T14:43:43Z

Thanks!! for reviewing Steve

yaswanth1701 added 4 commits March 13, 2024 01:38

updated python notebook

93aba1d

dynamically generating and loading sdf files into gazebo

84c7fe5

Signed-off-by: yaswanth1701 <[email protected]>

updated csv file results

0a8b4c2

Signed-off-by: yaswanth1701 <[email protected]>

minor changes

ac4c5fb

Signed-off-by: yaswanth1701 <[email protected]>

yaswanth1701 requested a review from scpeters as a code owner March 12, 2024 20:38

yaswanth1701 added 5 commits March 13, 2024 10:26

minor changes

54e5904

Signed-off-by: yaswanth1701 <[email protected]>

deleted results

67ac3ca

Signed-off-by: yaswanth1701 <[email protected]>

minor changes

c8d2bff

Signed-off-by: yaswanth1701 <[email protected]>

minor changes

b6fd5be

DART working with model_count

8e2dd25

Signed-off-by: yaswanth1701 <[email protected]>

scpeters reviewed Mar 15, 2024

View reviewed changes

yaswanth1701 added 7 commits March 16, 2024 10:13

pulled from upstream

b641a61

changes to world.erb files

e3d3510

changes to boxes.cc file

0c01834

Signed-off-by: yaswanth1701 <[email protected]>

minor changes

bfe7fb1

Signed-off-by: yaswanth1701 <[email protected]>

changes to erb file

149dbb3

minor changes

b138b16

minor changes

3c51192

Signed-off-by: yaswanth1701 <[email protected]>

yaswanth1701 mentioned this pull request Mar 16, 2024

Simbody core dumped when using test cases with box_model_count.cc #19

Open

yaswanth1701 added 2 commits March 17, 2024 11:09

minor changes

0fa9180

added config file for paths

2f964e5

Signed-off-by: yaswanth1701 <[email protected]>

scpeters reviewed Mar 25, 2024

View reviewed changes

improved formatting and added suggested changes

4b55528

yaswanth1701 force-pushed the main branch from a18caa1 to 4b55528 Compare March 26, 2024 10:20

minor fixes

cdaed64

yaswanth1701 added 2 commits March 28, 2024 00:28

minor changes

1a0cef7

minor changes

117dadd

scpeters reviewed Apr 17, 2024

View reviewed changes

suggested changes done

3d720cf

scpeters approved these changes May 2, 2024

View reviewed changes

scpeters merged commit c7faacc into scpeters:master May 2, 2024

yaswanth1701 deleted the main branch May 14, 2024 16:48

yaswanth1701 restored the main branch May 14, 2024 16:48

yaswanth1701 deleted the main branch May 14, 2024 16:48

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Added dynamic generation and loading sdf file into gazebo functionality. #14

Added dynamic generation and loading sdf file into gazebo functionality. #14

yaswanth1701 commented Mar 12, 2024 •

edited

Loading

yaswanth1701 commented Mar 13, 2024

scpeters commented Mar 15, 2024

scpeters Mar 15, 2024

yaswanth1701 Mar 16, 2024

yaswanth1701 commented Mar 16, 2024

scpeters Mar 25, 2024

scpeters Mar 25, 2024

scpeters Mar 25, 2024

yaswanth1701 Mar 26, 2024 •

edited

Loading

scpeters left a comment

scpeters Apr 17, 2024

yaswanth1701 Apr 17, 2024

scpeters Apr 17, 2024

scpeters Apr 17, 2024

yaswanth1701 Apr 17, 2024

scpeters commented May 2, 2024

yaswanth1701 commented May 2, 2024

	Load("worlds/boxes.world", true, _physicsEngine);
	Load(WORLDS_FILE_PATH "/boxes.world", true, _physicsEngine);

Added dynamic generation and loading sdf file into gazebo functionality. #14

Added dynamic generation and loading sdf file into gazebo functionality. #14

Conversation

yaswanth1701 commented Mar 12, 2024 • edited Loading

yaswanth1701 commented Mar 13, 2024

scpeters commented Mar 15, 2024

Choose a reason for hiding this comment

Choose a reason for hiding this comment

yaswanth1701 commented Mar 16, 2024

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

yaswanth1701 Mar 26, 2024 • edited Loading

Choose a reason for hiding this comment

scpeters left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

scpeters commented May 2, 2024

yaswanth1701 commented May 2, 2024

yaswanth1701 commented Mar 12, 2024 •

edited

Loading

yaswanth1701 Mar 26, 2024 •

edited

Loading