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Triball benchmark#30

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yaswanth1701 wants to merge 95 commits intoscpeters:masterfrom
yaswanth1701:triball_contact_forces
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Triball benchmark#30
yaswanth1701 wants to merge 95 commits intoscpeters:masterfrom
yaswanth1701:triball_contact_forces

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@yaswanth1701 yaswanth1701 commented Aug 5, 2024 •
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This PR adds the triball benchmark. As suggested in the issue #26.

Considered Implementations:

  • Static triball test case.
  • logging feature.
  • Sliding triball test case.
  • Post-processing script.

Step to run benchmark:

cd benchmark
mkdir build 
cd build 
cmake ..
make 
make test

Currently, Bullet has an issue where it returns the same scopeName for different collision elements accessed through contacts. This issue needs to be further investigated because there is no way to know which contact information belongs to which collision element for logging.

Currently working on adding sliding triball test cases and other physics engines for tests.

yaswanth1701 and others added 30 commits May 20, 2024 01:40
@yaswanth1701
added mcap logging
8dffa87
@yaswanth1701
mcap logging working
3546e7f 
Signed-off-by: gonna_yaswanth <gonnayaswanth17@gmail.com>
@yaswanth1701
Update README.md
b628363
@yaswanth1701
minor changes
be140c7 
Signed-off-by: gonna_yaswanth <gonnayaswanth17@gmail.com>
@yaswanth1701
added results
d1bf109 
Signed-off-by: gonna_yaswanth <gonnayaswanth17@gmail.com>
@yaswanth1701
minor change
3e9b38b
@yaswanth1701
added mcap to csv conversion script
c50b659 
Signed-off-by: gonna_yaswanth <gonnayaswanth17@gmail.com>
@yaswanth1701
mcap to csv working
b83987f 
Signed-off-by: gonna_yaswanth <gonnayaswanth17@gmail.com>
@yaswanth1701
minor changes
450bbae 
Signed-off-by: gonna_yaswanth <gonnayaswanth17@gmail.com>
@yaswanth1701
added quaternion to proto message
1ff4315
@yaswanth1701
removing simbody boxes_model_count benchmark until it's fixed
27435fb 
Signed-off-by: gonna_yaswanth <gonnayaswanth17@gmail.com>
@yaswanth1701
added collision element to proto message
c534d62 
Signed-off-by: gonna_yaswanth <gonnayaswanth17@gmail.com>
@yaswanth1701
added benchmark configuration to csv files
76b0291 
Signed-off-by: gonna_yaswanth <gonnayaswanth17@gmail.com>
@yaswanth1701
added logging for multiple box left to test
2bf6c62 
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@yaswanth1701
minor change
4315b36 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
added multi box logging and tested
e832942 
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@yaswanth1701
changes to cmake file
c9c2ab7 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
changes to cmakelist
fcdb8a0 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
resolved python path issue
40a0fc7 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
Update README.md
d36b934
@yaswanth1701
added log.hh which is similar to gz-sim benchmark
42fb3eb 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
changes to file path in mcap to csv file
ed6a92e 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
added python package requirement to readme
c41c74b
@yaswanth1701
added post processing script
456452a 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
Post processing working
a444b19 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
added time ratio
644e67e 
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minor changes
d07c21f 
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renamed files
c8d806d 
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@yaswanth1701
change to post processing
dca522c 
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@yaswanth1701
changes to results
c8a349d 
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@yaswanth1701
minor changes
e1db3b8 
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@yaswanth1701
minor changes
394aad9 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
added triball files
147da75 
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@yaswanth1701
few changes to clean up
e8dfc79 
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@yaswanth1701
added varing cog height to benchmark
855a3a0 
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@yaswanth1701
minor changes
3f76f1d 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
merged with post processing and triball benchmark working
2222cbd 
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@yaswanth1701
removed assert from triball.cc
7874c5d 
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@yaswanth1701
minor changes
da1fb55 
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@yaswanth1701
changes to test files
2a9eb02 
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@yaswanth1701
bullet not working
d6dfa7b 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701 yaswanth1701 requested a review from scpeters as a code owner August 5, 2024 21:18
yaswanth1701 and others added 18 commits August 6, 2024 12:35
@yaswanth1701
changes for sliding case of triball
6cda7aa 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
sdf working for sliding case triball
159600e 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
added sliding triball test source files
33c64b0 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
minor changes
53789ee 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
triball sliding working
ef3b925 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
Add files via upload
aea072f
@yaswanth1701
Add files via upload
1cc45a6
@yaswanth1701
Update README.md
7be13b8
@yaswanth1701
added post processing yet to complete
6ac670e 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
minor changes
1581c8f 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
minor changes
eef5121 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
@yaswanth1701
post processing script finished left to test
e6c3742 
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@yaswanth1701
changes to post-processing script
f7696cf 
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@yaswanth1701
minor changes
0874444 
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@yaswanth1701
minor changes
820bbc7 
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@yaswanth1701
minor changes
25ba95a 
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minor changes
1431852 
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@yaswanth1701
added results
e6bdca3 
Signed-off-by: yaswanth1701 <gonnayaswanth17@gmail.com>
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