diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md index 9fa3ba7da6..7bdc022512 100644 --- a/.github/ISSUE_TEMPLATE/bug_report.md +++ b/.github/ISSUE_TEMPLATE/bug_report.md @@ -5,7 +5,7 @@ labels: bug --- +https://robotics.stackexchange.com instead.--> ## Environment * OS Version: diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md index 87233a479a..52b56e3365 100644 --- a/.github/ISSUE_TEMPLATE/feature_request.md +++ b/.github/ISSUE_TEMPLATE/feature_request.md @@ -6,7 +6,7 @@ labels: enhancement +https://robotics.stackexchange.com instead.--> ## Desired behavior diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 6d32e68367..3f46c5e8ac 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -4,6 +4,8 @@ on: pull_request: push: branches: + - 'ign-gazebo[0-9]' + - 'gz-sim[0-9]?' - 'main' # Every time you make a push to your PR, it cancel immediately the previous checks, @@ -18,7 +20,7 @@ jobs: name: Ubuntu Jammy CI steps: - name: Checkout - uses: actions/checkout@v3 + uses: actions/checkout@v4 - uses: actions/setup-python@v3 - uses: pre-commit/action@v3.0.0 with: diff --git a/CMakeLists.txt b/CMakeLists.txt index ac957230b7..25ad14d382 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -244,7 +244,7 @@ add_subdirectory(examples) #============================================================================ gz_create_packages() -if (pybind11_FOUND) +if (pybind11_FOUND AND NOT SKIP_PYBIND11) add_subdirectory(python) endif() #============================================================================ diff --git a/Changelog.md b/Changelog.md index 2da7d20b94..8e8cc35c3b 100644 --- a/Changelog.md +++ b/Changelog.md @@ -4,6 +4,136 @@ ## Gazebo Sim 8.x +### Gazebo Sim 8.1.0 (2024-02-06) + +1. Add tutorial for using components in systems + * [Pull request #2207](https://github.com/gazebosim/gz-sim/pull/2207) + +1. Light entity match SDF boolean for UserCommands. + * [Pull request #2295](https://github.com/gazebosim/gz-sim/pull/2295) + +1. Explicitly check SKIP_PYBIND11 for python bindings + * [Pull request #2298](https://github.com/gazebosim/gz-sim/pull/2298) + +1. Fix `INTEGRATION_save_world` on windows + * [Pull request #2300](https://github.com/gazebosim/gz-sim/pull/2300) + +1. Change an entities visual material color by topic. + * [Pull request #2286](https://github.com/gazebosim/gz-sim/pull/2286) + +1. Fix ModelPhotoShootTest test failures + * [Pull request #2294](https://github.com/gazebosim/gz-sim/pull/2294) + +1. Support for Gazebo materials + * [Pull request #2269](https://github.com/gazebosim/gz-sim/pull/2269) + * [Pull request #2302](https://github.com/gazebosim/gz-sim/pull/2302) + +1. Added tutorial for Gazebo joint controller plugin + * [Pull request #2263](https://github.com/gazebosim/gz-sim/pull/2263) + +1. Lift Drag Bug Fix + * [Pull request #2189](https://github.com/gazebosim/gz-sim/pull/2189) + * [Pull request #2272](https://github.com/gazebosim/gz-sim/pull/2272) + * [Pull request #2273](https://github.com/gazebosim/gz-sim/pull/2273) + * [Issue #2188](https://github.com/gazebosim/gz-sim/issues/2188) + +1. Fix URL in hydrodynamics tutorial + * [Pull request #2280](https://github.com/gazebosim/gz-sim/pull/2280) + +1. Install the Python libs to system site-packages instead of root + * [Pull request #2274](https://github.com/gazebosim/gz-sim/pull/2274) + +1. Maritime tutorials πŸ’§ + * [Pull request #2260](https://github.com/gazebosim/gz-sim/pull/2260) + * [Pull request #2259](https://github.com/gazebosim/gz-sim/pull/2259) + * [Pull request #2258](https://github.com/gazebosim/gz-sim/pull/2258) + * [Pull request #2257](https://github.com/gazebosim/gz-sim/pull/2257) + +1. Update CI badges in README + * [Pull request #2271](https://github.com/gazebosim/gz-sim/pull/2271) + +1. Fix incorrect light direction in tunnel.sdf example + * [Pull request #2264](https://github.com/gazebosim/gz-sim/pull/2264) + +1. Allow removal of model that has joint_position_controller plugin. + * [Pull request #2252](https://github.com/gazebosim/gz-sim/pull/2252) + +1. Fix DLL linkage/visibility issues + * [Pull request #2254](https://github.com/gazebosim/gz-sim/pull/2254) + +1. `mecanum_drive`: use mesh wheels in example world + * [Pull request #2250](https://github.com/gazebosim/gz-sim/pull/2250) + +1. Disable distortion camera test on Linux + * [Pull request #2247](https://github.com/gazebosim/gz-sim/pull/2247) + +1. `environment_preload`: fix windows compiler warnings + * [Pull request #2246](https://github.com/gazebosim/gz-sim/pull/2246) + +1. EnvironmentPreload: ignerr -> gzerr + * [Pull request #2245](https://github.com/gazebosim/gz-sim/pull/2245) + +1. Update friction parameters for skid steer example + * [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235) + +1. Fixed Centre of Mass and Inertia Matrix Calculation Bug `MeshInertiaCalculator::CalculateMassProperties()` function + * [Pull request #2182](https://github.com/gazebosim/gz-sim/pull/2182) + +1. Backport #2231: Use sdf FindElement API to avoid `const_cast` + * [Pull request #2236](https://github.com/gazebosim/gz-sim/pull/2236) + +1. Add libpython3-dev CI dependency + * [Pull request #2233](https://github.com/gazebosim/gz-sim/pull/2233) + +1. Standardize Doxygen parameter formatting for systems + * [Pull request #2212](https://github.com/gazebosim/gz-sim/pull/2212) + * [Pull request #2183](https://github.com/gazebosim/gz-sim/pull/2183) + +1. Use `GZ_PI` instead of `M_PI` to fix windows builds + * [Pull request #2230](https://github.com/gazebosim/gz-sim/pull/2230) + +1. Add note about elevator example + * [Pull request #2227](https://github.com/gazebosim/gz-sim/pull/2227) + +1. Porting Advanced Lift Drag Plugin to Gazebo + * [Pull request #2185](https://github.com/gazebosim/gz-sim/pull/2185) + * [Pull request #2226](https://github.com/gazebosim/gz-sim/pull/2226) + +1. Fix for sensor pointer null when navsat plugin in included in sdf + * [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176) + +1. Implements a method to get the link inertia + * [Pull request #2218](https://github.com/gazebosim/gz-sim/pull/2218) + +1. Fix sensors system parallel updates + * [Pull request #2201](https://github.com/gazebosim/gz-sim/pull/2201) + +1. Fix custom_sensor_system example + * [Pull request #2208](https://github.com/gazebosim/gz-sim/pull/2208) + +1. Relax pose check in actor no mesh test + * [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196) + +1. backport component inspector Vector3d width fix + * [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195) + +1. fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedIncludes test + * [Pull request #2197](https://github.com/gazebosim/gz-sim/pull/2197) + +1. Support specifying the name of light associated with lens flares + * [Pull request #2172](https://github.com/gazebosim/gz-sim/pull/2172) + +1. Bump Fuel model version in test + * [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190) + +1. Fix environment system loading mechanism + * [Pull request #1842](https://github.com/gazebosim/gz-sim/pull/1842) + +1. Infrastructure + * [Pull request #2187](https://github.com/gazebosim/gz-sim/pull/2187) + * [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237) + * [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222) + ### Gazebo Sim 8.0.0 (2023-09-29) 1. TouchPlugin: Reset the plugin with the initial values @@ -135,6 +265,83 @@ ## Gazebo Sim 7.x +### Gazebo Sim 7.7.0 (2024-01-17) + +1. Allow using plugin file names and environment variables compatible with Garden and later + * [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275) + +1. Added tutorial for Gazebo joint controller plugin + * [Pull request #2263](https://github.com/gazebosim/gz-sim/pull/2263) + +1. Fix incorrect light direction in tunnel.sdf example + * [Pull request #2264](https://github.com/gazebosim/gz-sim/pull/2264) + +1. Fix DLL linkage/visibility issues + * [Pull request #2254](https://github.com/gazebosim/gz-sim/pull/2254) + +1. mecanum_drive: use mesh wheels in example world + * [Pull request #2250](https://github.com/gazebosim/gz-sim/pull/2250) + +1. environment_preload: fix windows compiler warnings + * [Pull request #2246](https://github.com/gazebosim/gz-sim/pull/2246) + +1. EnvironmentPreload: ignerr -> gzerr + * [Pull request #2245](https://github.com/gazebosim/gz-sim/pull/2245) + +1. Update friction parameters for skid steer example + * [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235) + +1. Use sdf FindElement API to avoid const_cast + * [Pull request #2236](https://github.com/gazebosim/gz-sim/pull/2236) + +1. Use `GZ_PI` instead of `M_PI` to fix windows builds + * [Pull request #2230](https://github.com/gazebosim/gz-sim/pull/2230) + +1. Add note about elevator example + * [Pull request #2227](https://github.com/gazebosim/gz-sim/pull/2227) + +1. Porting Advanced Lift Drag Plugin to Gazebo + * [Pull request #2185](https://github.com/gazebosim/gz-sim/pull/2185) + * [Pull request #2226](https://github.com/gazebosim/gz-sim/pull/2226) + +1. Fix macOS test failures by registering components in the core library + * [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220) + +1. Fix for sensor pointer null when navsat plugin in included in sdf + * [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176) + +1. Fix another deadlock in sensors system + * [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200) + +1. Fix sensors system parallel updates + * [Pull request #2201](https://github.com/gazebosim/gz-sim/pull/2201) + +1. Relax pose check in actor no mesh test + * [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196) + +1. backport component inspector Vector3d width fix + * [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195) + +1. fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedIncludes test + * [Pull request #2197](https://github.com/gazebosim/gz-sim/pull/2197) + +1. Lift Drag Bug Fix + * [Pull request #2189](https://github.com/gazebosim/gz-sim/pull/2189) + * [Pull request #2272](https://github.com/gazebosim/gz-sim/pull/2272) + * [Pull request #2273](https://github.com/gazebosim/gz-sim/pull/2273) + * [Issue #2188](https://github.com/gazebosim/gz-sim/issues/2188) + +1. Bump Fuel model version in test + * [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190) + +1. Fix enviroment system loading mechanism + * [Pull request #1842](https://github.com/gazebosim/gz-sim/pull/1842) + +1. Infrastructure + * [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237) + * [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222) + + ### Gazebo Sim 7.6.0 (2023-09-26) 1. Documentation updates @@ -1022,6 +1229,35 @@ ## Gazebo Sim 6.x +### Gazebo Sim 6.16.0 (2024-01-12) + +1. Allow using plugin file names and environment variables compatible with Garden and later + * [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275) + +1. Update friction parameters for skid steer example + * [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235) + +1. Relax pose check in actor no mesh test + * [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196) + +1. Fix macOS test failures by registering components in the core library + * [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220) + +1. Fix for sensor pointer null when navsat plugin in included in sdf + * [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176) + +1. Fix another deadlock in sensors system + * [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200) + +1. Backport component inspector Vector3d width fix + * [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195) + +1. Bump Fuel model version in test + * [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190) + +1. Infrastructure + * [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237) + * [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222) ### Gazebo Sim 6.15.0 (2023-08-16) diff --git a/README.md b/README.md index 006190b7c7..145b8b9dde 100644 --- a/README.md +++ b/README.md @@ -9,10 +9,10 @@ Build | Status -- | -- -Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/branch/main) -Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-main-focal-amd64) -Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-main-homebrew-amd64) -Windows | [![Build Status](https://build.osrfoundation.org/job/ign_gazebo-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_gazebo-ci-win/) +Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/tree/gz-sim8/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/tree/gz-sim8) +Ubuntu Jammy | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-gz-sim8-jammy-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-gz-sim8-jammy-amd64) +Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-gz-sim8-homebrew-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-gz-sim8-homebrew-amd64) +Windows | [![Build Status](https://build.osrfoundation.org/job/gz_sim-8-win/badge/icon)](https://build.osrfoundation.org/job/gz_sim-8-win/) Gazebo Sim is an open source robotics simulator. Through Gazebo Sim, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services. diff --git a/examples/worlds/diff_drive_skid.sdf b/examples/worlds/diff_drive_skid.sdf index fe1fdbe833..58cce3ca04 100644 --- a/examples/worlds/diff_drive_skid.sdf +++ b/examples/worlds/diff_drive_skid.sdf @@ -155,8 +155,10 @@ - 0.5 - 1.0 + 1 + 1 + 0.035 + 0 0 0 1 @@ -203,8 +205,10 @@ - 0.5 - 1.0 + 1 + 1 + 0.035 + 0 0 0 1 @@ -251,8 +255,10 @@ - 0.5 - 1.0 + 1 + 1 + 0.035 + 0 0 0 1 @@ -299,8 +305,10 @@ - 0.5 - 1.0 + 1 + 1 + 0.035 + 0 0 0 1 diff --git a/examples/worlds/joint_controller.sdf b/examples/worlds/joint_controller.sdf index 65cf6fe938..a02ff06900 100644 --- a/examples/worlds/joint_controller.sdf +++ b/examples/worlds/joint_controller.sdf @@ -91,8 +91,7 @@ 0.2 0.8 0.2 1 - 0.2 0.8 0.2 1 - 0.2 0.8 0.2 1 + 0.8 0 0 1 @@ -179,8 +178,7 @@ 0.2 0.8 0.2 1 - 0.2 0.8 0.2 1 - 0.2 0.8 0.2 1 + 0.8 0 0 1 diff --git a/examples/worlds/joint_position_controller.sdf b/examples/worlds/joint_position_controller.sdf index c39256aa1b..8265059ad7 100644 --- a/examples/worlds/joint_position_controller.sdf +++ b/examples/worlds/joint_position_controller.sdf @@ -85,6 +85,7 @@ 0.2 0.8 0.2 1 + 0.8 0 0 1 diff --git a/examples/worlds/mecanum_drive.sdf b/examples/worlds/mecanum_drive.sdf index 6109eafc48..6d39c77ce1 100644 --- a/examples/worlds/mecanum_drive.sdf +++ b/examples/worlds/mecanum_drive.sdf @@ -128,15 +128,13 @@ + 0 0 0 1.5707 0 0 - - 0.3 - - - + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL + 0.006 0.006 0.006 + 0.2 0.2 0.2 1 @@ -176,11 +174,13 @@ + 0 0 0 1.5707 0 0 - - 0.3 - - + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL + 0.006 0.006 0.006 + 0.2 0.2 0.2 1 @@ -220,11 +220,13 @@ + 0 0 0 1.5707 0 0 - - 0.3 - - + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL + 0.006 0.006 0.006 + 0.2 0.2 0.2 1 @@ -264,11 +266,13 @@ + 0 0 0 1.5707 0 0 - - 0.3 - - + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL + 0.006 0.006 0.006 + 0.2 0.2 0.2 1 diff --git a/examples/worlds/model_photo_shoot.sdf b/examples/worlds/model_photo_shoot.sdf index 0d479debba..c69cea09fd 100644 --- a/examples/worlds/model_photo_shoot.sdf +++ b/examples/worlds/model_photo_shoot.sdf @@ -17,7 +17,7 @@ filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors"> ogre2 - 1, 1, 1 + 1.0 1.0 1.0 https://fuel.gazebosim.org/1.0/OpenRobotics/models/Robonaut diff --git a/examples/worlds/tunnel.sdf b/examples/worlds/tunnel.sdf index a902e40f03..91c069437a 100644 --- a/examples/worlds/tunnel.sdf +++ b/examples/worlds/tunnel.sdf @@ -1165,7 +1165,7 @@ 1.1 1 - 0 -1 0 + 0 0 -1 1 diff --git a/include/gz/sim/InstallationDirectories.hh b/include/gz/sim/InstallationDirectories.hh index 08e3b2b29e..a34478376b 100644 --- a/include/gz/sim/InstallationDirectories.hh +++ b/include/gz/sim/InstallationDirectories.hh @@ -50,6 +50,9 @@ namespace gz /// \brief getWorldInstallDir return the world install dir GZ_SIM_VISIBLE std::string getWorldInstallDir(); + + /// \brief getMediaInstallDir return the media install dir + GZ_SIM_VISIBLE std::string getMediaInstallDir(); } } } diff --git a/include/gz/sim/Joint.hh b/include/gz/sim/Joint.hh index 302da37fdd..9f2c6e0565 100644 --- a/include/gz/sim/Joint.hh +++ b/include/gz/sim/Joint.hh @@ -168,7 +168,7 @@ namespace gz /// only forces are applied /// \param[in] _ecm Entity Component manager. /// \param[in] _forces Joint force or torque commands (target forces - /// or toruqes). The vector of forces should have the same size as the + /// or torques). The vector of forces should have the same size as the /// degrees of freedom of the joint. public: void SetForce(EntityComponentManager &_ecm, const std::vector &_forces); diff --git a/include/gz/sim/Server.hh b/include/gz/sim/Server.hh index 8d1e6ebc80..28b5b3feb1 100644 --- a/include/gz/sim/Server.hh +++ b/include/gz/sim/Server.hh @@ -26,6 +26,8 @@ #include #include #include +#include +#include namespace gz { @@ -225,14 +227,60 @@ namespace gz const SystemPluginPtr &_system, const unsigned int _worldIndex = 0); + /// \brief Add a System to the server. The server must not be running when + /// calling this. + /// \param[in] _system system to be added + /// \param[in] _entity Entity of system to be added. + /// If _entity is std::nullopt, it will be added to the world entity. + /// \param[in] _sdf Pointer to the SDF element of a tag with + /// configuration options for the system being added. + /// \param[in] _worldIndex Index of the world to query. + /// \return Whether the system was added successfully, or std::nullopt + /// if _worldIndex is invalid. + public: std::optional AddSystem( + const SystemPluginPtr &_system, + std::optional _entity, + std::optional> _sdf, + const unsigned int _worldIndex = 0); + + /// \brief Add a System to the server. The server must not be running when + /// calling this. + /// \param[in] _plugin system plugin to be added with any additional XML + /// contents. + /// \param[in] _entity Entity of system to be added. + /// If _entity is std::nullopt, it will be added to the world entity. + /// \param[in] _worldIndex Index of the world to query. + /// \return Whether the system was added successfully, or std::nullopt + /// if _worldIndex is invalid. + public: std::optional AddSystem( + const sdf::Plugin &_plugin, + std::optional _entity, + const unsigned int _worldIndex = 0); + + /// \brief Add a System to the server. The server must not be running when + /// calling this. + /// \param[in] _system System to be added + /// \param[in] _worldIndex Index of the world to add to. + /// \return Whether the system was added successfully, or std::nullopt + /// if _worldIndex is invalid. + public: std::optional AddSystem( + const std::shared_ptr &_system, + const unsigned int _worldIndex = 0); + /// \brief Add a System to the server. The server must not be running when /// calling this. /// \param[in] _system System to be added + /// \param[in] _entity Entity of system to be added. + /// If _entity is std::nullopt, it will be added to the world entity. + /// \param[in] _sdf Pointer to the SDF element of a tag with + /// configuration options for the system being added /// \param[in] _worldIndex Index of the world to add to. /// \return Whether the system was added successfully, or std::nullopt /// if _worldIndex is invalid. public: std::optional AddSystem( const std::shared_ptr &_system, + std::optional _entity, + std::optional> _sdf, const unsigned int _worldIndex = 0); /// \brief Get an Entity based on a name. diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 6caede67ec..3069e98752 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -22,6 +22,9 @@ if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION) if(USE_DIST_PACKAGES_FOR_PYTHON) string(REPLACE "site-packages" "dist-packages" GZ_PYTHON_INSTALL_PATH ${Python3_SITEARCH}) + else() + # custom cmake command is returning dist-packages + string(REPLACE "dist-packages" "site-packages" GZ_PYTHON_INSTALL_PATH ${Python3_SITEARCH}) endif() else() # If not a system installation, respect local paths diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 176fdf1039..879a01bffe 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -60,6 +60,11 @@ set(cli_sources cmd/ModelCommandAPI.cc ) +set(material_sources + rendering/MaterialParser/MaterialParser.cc + rendering/MaterialParser/ConfigLoader.cc +) + set (sources Actor.cc Barrier.cc @@ -92,6 +97,7 @@ set (sources ${network_sources} ${comms_sources} ${msgs_sources} + ${material_sources} ) set (gtest_sources @@ -182,7 +188,7 @@ target_link_libraries(${gz_lib_target} ) # Executable target that runs the GUI without ruby for debugging purposes. -add_executable(runGui gz.cc) +add_executable(runGui cmd/runGui_main.cc) target_link_libraries(runGui PRIVATE ${gz_lib_target}) # Create the library target @@ -200,7 +206,9 @@ set_property( GZ_SIM_PLUGIN_RELATIVE_INSTALL_DIR="${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins" GZ_SIM_GUI_PLUGIN_RELATIVE_INSTALL_DIR="${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui" GZ_SIM_WORLD_RELATIVE_INSTALL_DIR="${GZ_DATA_INSTALL_DIR}/worlds" + GZ_SIM_MEDIA_RELATIVE_INSTALL_DIR="${GZ_DATA_INSTALL_DIR}/media" ) +install(FILES "rendering/MaterialParser/gazebo.material" DESTINATION ${GZ_DATA_INSTALL_DIR}/media) target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC diff --git a/src/Conversions.cc b/src/Conversions.cc index 519593ff79..fbe7587141 100644 --- a/src/Conversions.cc +++ b/src/Conversions.cc @@ -1363,6 +1363,41 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in) out.SetCameraSensor(sensor); } + else if (out.Type() == sdf::SensorType::GPS || + out.Type() == sdf::SensorType::NAVSAT) + { + sdf::NavSat sensor; + if (_in.has_gps()) + { + if (_in.gps().position().has_horizontal_noise()) + { + sensor.SetHorizontalPositionNoise(sim::convert( + _in.gps().position().horizontal_noise())); + } + if (_in.gps().position().has_vertical_noise()) + { + sensor.SetVerticalPositionNoise(sim::convert( + _in.gps().position().vertical_noise())); + } + if (_in.gps().velocity().has_horizontal_noise()) + { + sensor.SetHorizontalVelocityNoise(sim::convert( + _in.gps().velocity().horizontal_noise())); + } + if (_in.gps().velocity().has_vertical_noise()) + { + sensor.SetVerticalVelocityNoise(sim::convert( + _in.gps().velocity().vertical_noise())); + } + } + else + { + gzerr << "Attempting to convert a navsat sensor message, but the " + << "message does not have a navsat nested message.\n"; + } + + out.SetNavSatSensor(sensor); + } else if (out.Type() == sdf::SensorType::ALTIMETER) { sdf::Altimeter sensor; @@ -1637,8 +1672,8 @@ msgs::ParticleEmitter gz::sim::convert(const sdf::ParticleEmitter &_in) std::string path = asFullPath(_in.ColorRangeImage(), _in.FilePath()); common::SystemPaths systemPaths; - systemPaths.SetFilePathEnv(kResourcePathEnv); - std::string absolutePath = systemPaths.FindFile(path); + std::string absolutePath = + common::SystemPaths::LocateLocalFile(path, sim::resourcePaths()); if (!absolutePath.empty()) { diff --git a/src/InstallationDirectories.cc b/src/InstallationDirectories.cc index 2aa64e334d..f7b22f7cf6 100644 --- a/src/InstallationDirectories.cc +++ b/src/InstallationDirectories.cc @@ -62,6 +62,12 @@ std::string getWorldInstallDir() getInstallPrefix(), GZ_SIM_WORLD_RELATIVE_INSTALL_DIR); } +std::string getMediaInstallDir() +{ + return gz::common::joinPaths( + getInstallPrefix(), GZ_SIM_MEDIA_RELATIVE_INSTALL_DIR); +} + } } } diff --git a/src/MeshInertiaCalculator.cc b/src/MeshInertiaCalculator.cc index 060d0afc43..23d5e95310 100644 --- a/src/MeshInertiaCalculator.cc +++ b/src/MeshInertiaCalculator.cc @@ -33,6 +33,7 @@ #include #include #include +#include using namespace gz; using namespace sim; @@ -72,41 +73,12 @@ void MeshInertiaCalculator::GetMeshTriangles( } } -////////////////////////////////////////////////// -void MeshInertiaCalculator::CalculateMeshCentroid( - gz::math::Pose3d &_centreOfMass, - std::vector &_triangles) -{ - gz::math::Vector3d centroid = gz::math::Vector3d::Zero; - gz::math::Vector3d triangleCross = gz::math::Vector3d::Zero; - double totalMeshArea = 0.0; - double triangleArea = 0.0; - - for (Triangle &triangle : _triangles) - { - // Calculate the area of the triangle using half of - // cross product magnitude - triangleCross = - (triangle.v1 - triangle.v0).Cross(triangle.v2 - triangle.v0); - triangleArea = triangleCross.Length() / 2; - - centroid = centroid + (triangle.centroid * triangleArea); - totalMeshArea = totalMeshArea + triangleArea; - } - - centroid = centroid / totalMeshArea; - - _centreOfMass.SetX(centroid.X()); - _centreOfMass.SetY(centroid.Y()); - _centreOfMass.SetZ(centroid.Z()); -} - ////////////////////////////////////////////////// void MeshInertiaCalculator::CalculateMassProperties( const std::vector& _triangles, double _density, gz::math::MassMatrix3d& _massMatrix, - gz::math::Pose3d& _inertiaOrigin) + gz::math::Pose3d& _centreOfMass) { // Some coefficients for the calculation of integral terms const double coefficients[10] = {1.0 / 6, 1.0 / 24, 1.0 / 24, 1.0 / 24, @@ -185,27 +157,27 @@ void MeshInertiaCalculator::CalculateMassProperties( // Accumulate the result and add it to MassMatrix object of gz::math double volume = integral[0]; double mass = volume * _density; - _inertiaOrigin.SetX(integral[1] / mass); - _inertiaOrigin.SetY(integral[2] / mass); - _inertiaOrigin.SetZ(integral[3] / mass); + _centreOfMass.SetX(integral[1] / volume); + _centreOfMass.SetY(integral[2] / volume); + _centreOfMass.SetZ(integral[3] / volume); gz::math::Vector3d ixxyyzz = gz::math::Vector3d(); gz::math::Vector3d ixyxzyz = gz::math::Vector3d(); // Diagonal Elements of the Mass Matrix - ixxyyzz.X() = (integral[5] + integral[6] - mass * - (_inertiaOrigin.Y() * _inertiaOrigin.Y() + - _inertiaOrigin.Z() * _inertiaOrigin.Z())); - ixxyyzz.Y() = (integral[4] + integral[6] - mass * - (_inertiaOrigin.Z() * _inertiaOrigin.Z() + - _inertiaOrigin.X() * _inertiaOrigin.X())); - ixxyyzz.Z() = integral[4] + integral[5] - mass * - (_inertiaOrigin.X() * _inertiaOrigin.X() + - _inertiaOrigin.Y() * _inertiaOrigin.Y()); + ixxyyzz.X() = (integral[5] + integral[6] - volume * + (_centreOfMass.Y() * _centreOfMass.Y() + + _centreOfMass.Z() * _centreOfMass.Z())); + ixxyyzz.Y() = (integral[4] + integral[6] - volume * + (_centreOfMass.Z() * _centreOfMass.Z() + + _centreOfMass.X() * _centreOfMass.X())); + ixxyyzz.Z() = integral[4] + integral[5] - volume * + (_centreOfMass.X() * _centreOfMass.X() + + _centreOfMass.Y() * _centreOfMass.Y()); // Off Diagonal Elements of the Mass Matrix - ixyxzyz.X() = -(integral[7] - mass * _inertiaOrigin.X() * _inertiaOrigin.Y()); - ixyxzyz.Y() = -(integral[8] - mass * _inertiaOrigin.Y() * _inertiaOrigin.Z()); - ixyxzyz.Z() = -(integral[9] - mass * _inertiaOrigin.X() * _inertiaOrigin.Z()); + ixyxzyz.X() = -(integral[7] - volume * _centreOfMass.X() * _centreOfMass.Y()); + ixyxzyz.Y() = -(integral[9] - volume * _centreOfMass.X() * _centreOfMass.Z()); + ixyxzyz.Z() = -(integral[8] - volume * _centreOfMass.Y() * _centreOfMass.Z()); // Set the values in the MassMatrix object _massMatrix.SetMass(mass); @@ -249,26 +221,13 @@ std::optional MeshInertiaCalculator::operator() std::vector meshTriangles; gz::math::MassMatrix3d meshMassMatrix; gz::math::Pose3d centreOfMass; - gz::math::Pose3d inertiaOrigin; // Create a list of Triangle objects from the mesh vertices and indices this->GetMeshTriangles(meshTriangles, sdfMesh->Scale(), mesh); - // Calculate the mesh centroid and set is as centre of mass - this->CalculateMeshCentroid(centreOfMass, meshTriangles); - // Calculate mesh mass properties this->CalculateMassProperties(meshTriangles, density, - meshMassMatrix, inertiaOrigin); - - if (inertiaOrigin != centreOfMass) - { - // TODO(jasmeet0915): tranform the calculated inertia matrix - // from inertia origin to centre of mass - gzwarn << "Calculated centroid does not match the mesh origin. " - "Inertia Tensor values won't be correct. Use mesh with origin at " - "geometric center." << std::endl; - } + meshMassMatrix, centreOfMass); gz::math::Inertiald meshInertial; diff --git a/src/MeshInertiaCalculator.hh b/src/MeshInertiaCalculator.hh index 8d865fcd2d..20b9957c45 100644 --- a/src/MeshInertiaCalculator.hh +++ b/src/MeshInertiaCalculator.hh @@ -90,19 +90,6 @@ namespace gz const gz::math::Vector3d &_meshScale, const gz::common::Mesh* _mesh); - /// \brief Function to calculate the centroid of the mesh. Since - /// uniform density is considered for the mesh, the centroid value - /// is used as the centre of mass. - /// The mesh centroid is calculated by the average of the - /// centroid of mesh triangle weighted by the area of the - /// respective triangle - /// \param[out] _centreOfMass A gz::math::Pose3d object to hold - /// calculated centroid (centre of mass) of the mesh - /// \param[in] _triangles A vector with all the triangles of the - /// mesh represented as instances of the Triangle struct - public: void CalculateMeshCentroid(gz::math::Pose3d &_centreOfMass, - std::vector &_triangles); - /// \brief Function that calculates the mass, mass matrix & centre of /// mass of a mesh using a vector of Triangles of the mesh /// \param[in] _triangles A vector of all the Triangles of the mesh diff --git a/src/SdfEntityCreator.cc b/src/SdfEntityCreator.cc index 638797ba6f..f4b693533b 100644 --- a/src/SdfEntityCreator.cc +++ b/src/SdfEntityCreator.cc @@ -84,6 +84,8 @@ #include "gz/sim/components/WindMode.hh" #include "gz/sim/components/World.hh" +#include "rendering/MaterialParser/MaterialParser.hh" + class gz::sim::SdfEntityCreatorPrivate { /// \brief Pointer to entity component manager. We don't assume ownership. @@ -103,6 +105,9 @@ class gz::sim::SdfEntityCreatorPrivate /// \brief Keep track of new visuals being added, so we load their plugins /// only after we have their scoped name. public: std::map newVisuals; + + /// \brief Parse Gazebo defined materials for visuals + public: MaterialParser materialParser; }; using namespace gz; @@ -193,6 +198,7 @@ SdfEntityCreator::SdfEntityCreator(EntityComponentManager &_ecm, { this->dataPtr->ecm = &_ecm; this->dataPtr->eventManager = &_eventManager; + this->dataPtr->materialParser.Load(); } ///////////////////////////////////////////////// @@ -788,8 +794,47 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Visual *_visual) // \todo(louise) Populate with default material if undefined if (_visual->Material()) { + sdf::Material visualMaterial = *_visual->Material(); + if (!_visual->Material()->ScriptUri().empty()) + { + gzwarn << "Gazebo does not support Ogre material scripts. See " << + "https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials " << + "for details." << std::endl; + std::string scriptUri = visualMaterial.ScriptUri(); + if (scriptUri != "file://media/materials/scripts/gazebo.material") { + gzwarn << "Custom material scripts are not supported." + << std::endl; + } + } + if (!_visual->Material()->ScriptName().empty()) + { + std::string scriptName = visualMaterial.ScriptName(); + + if ((scriptName.find("Gazebo/") == 0u)) + { + gzwarn << "Using an internal gazebo.material to parse " + << scriptName << std::endl; + std::optional parsed = + this->dataPtr->materialParser.GetMaterialValues(scriptName); + + if(parsed.has_value()) + { + visualMaterial.SetAmbient + (parsed->ambient.value_or(visualMaterial.Ambient())); + visualMaterial.SetDiffuse + (parsed->diffuse.value_or(visualMaterial.Diffuse())); + visualMaterial.SetSpecular + (parsed->specular.value_or(visualMaterial.Specular())); + } + else + { + gzwarn << "Material " << scriptName << + " not recognized or supported, using default." << std::endl; + } + } + } this->dataPtr->ecm->CreateComponent(visualEntity, - components::Material(*_visual->Material())); + components::Material(visualMaterial)); } // store the plugin in a component diff --git a/src/Server.cc b/src/Server.cc index ba4b681f1e..7aca6f33f3 100644 --- a/src/Server.cc +++ b/src/Server.cc @@ -352,6 +352,29 @@ std::optional Server::SystemCount(const unsigned int _worldIndex) const ////////////////////////////////////////////////// std::optional Server::AddSystem(const SystemPluginPtr &_system, const unsigned int _worldIndex) +{ + return this->AddSystem(_system, std::nullopt, std::nullopt, _worldIndex); +} + +////////////////////////////////////////////////// +std::optional Server::AddSystem(const sdf::Plugin &_plugin, + std::optional _entity, + const unsigned int _worldIndex) +{ + auto system = this->dataPtr->systemLoader->LoadPlugin(_plugin); + if (system) + { + return this->AddSystem(*system, _entity, _plugin.ToElement(), _worldIndex); + } + return false; +} + +////////////////////////////////////////////////// +std::optional Server::AddSystem( + const SystemPluginPtr &_system, + std::optional _entity, + std::optional> _sdf, + const unsigned int _worldIndex) { // Check the current state, and return early if preconditions are not met. std::lock_guard lock(this->dataPtr->runMutex); @@ -364,7 +387,7 @@ std::optional Server::AddSystem(const SystemPluginPtr &_system, if (_worldIndex < this->dataPtr->simRunners.size()) { - this->dataPtr->simRunners[_worldIndex]->AddSystem(_system); + this->dataPtr->simRunners[_worldIndex]->AddSystem(_system, _entity, _sdf); return true; } @@ -374,6 +397,16 @@ std::optional Server::AddSystem(const SystemPluginPtr &_system, ////////////////////////////////////////////////// std::optional Server::AddSystem(const std::shared_ptr &_system, const unsigned int _worldIndex) +{ + return this->AddSystem(_system, std::nullopt, std::nullopt, _worldIndex); +} + +////////////////////////////////////////////////// +std::optional Server::AddSystem( + const std::shared_ptr &_system, + std::optional _entity, + std::optional> _sdf, + const unsigned int _worldIndex) { std::lock_guard lock(this->dataPtr->runMutex); if (this->dataPtr->running) @@ -384,7 +417,7 @@ std::optional Server::AddSystem(const std::shared_ptr &_system, if (_worldIndex < this->dataPtr->simRunners.size()) { - this->dataPtr->simRunners[_worldIndex]->AddSystem(_system); + this->dataPtr->simRunners[_worldIndex]->AddSystem(_system, _entity, _sdf); return true; } diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc index df4373521c..e2fba5e054 100644 --- a/src/Server_TEST.cc +++ b/src/Server_TEST.cc @@ -46,6 +46,7 @@ #include "plugins/MockSystem.hh" #include "../test/helpers/Relay.hh" #include "../test/helpers/EnvTestFixture.hh" +#include "../test/helpers/Util.hh" using namespace gz; using namespace gz::sim; @@ -278,14 +279,10 @@ TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigRealPlugin)) msgs::StringMsg rep; bool result{false}; bool executed{false}; - int sleep{0}; - int maxSleep{30}; - while (!executed && sleep < maxSleep) - { - gzdbg << "Requesting /test/service" << std::endl; - executed = node.Request("/test/service", 100, rep, result); - sleep++; - } + const std::string service = "/test/service"; + ASSERT_TRUE(test::waitForService(node, service)); + gzdbg << "Requesting " << service << std::endl; + executed = node.Request(service, 1000, rep, result); EXPECT_TRUE(executed); EXPECT_TRUE(result); EXPECT_EQ("TestModelSystem", rep.data()); @@ -337,14 +334,10 @@ TEST_P(ServerFixture, msgs::StringMsg rep; bool result{false}; bool executed{false}; - int sleep{0}; - int maxSleep{30}; - while (!executed && sleep < maxSleep) - { - gzdbg << "Requesting /test/service/sensor" << std::endl; - executed = node.Request("/test/service/sensor", 100, rep, result); - sleep++; - } + const std::string service ="/test/service/sensor"; + ASSERT_TRUE(test::waitForService(node, service)); + gzdbg << "Requesting " << service << std::endl; + executed = node.Request(service, 1000, rep, result); EXPECT_TRUE(executed); EXPECT_TRUE(result); EXPECT_EQ("TestSensorSystem", rep.data()); @@ -632,17 +625,48 @@ TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(RunOnceUnpaused)) auto mockSystemPlugin = systemLoader.LoadPlugin(sdfPlugin); ASSERT_TRUE(mockSystemPlugin.has_value()); - // Check that it was loaded - const size_t systemCount = *server.SystemCount(); - EXPECT_TRUE(*server.AddSystem(mockSystemPlugin.value())); - EXPECT_EQ(systemCount + 1, *server.SystemCount()); - // Query the interface from the plugin auto system = mockSystemPlugin.value()->QueryInterface(); EXPECT_NE(system, nullptr); auto mockSystem = dynamic_cast(system); EXPECT_NE(mockSystem, nullptr); + Entity entity = server.EntityByName("default").value(); + size_t configureCallCount = 0; + auto configureCallback = [&sdfPlugin, &entity, &configureCallCount]( + const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &, + EventManager &) + { + configureCallCount++; + EXPECT_EQ(entity, _entity); + EXPECT_EQ(sdfPlugin.ToElement()->ToString(""), _sdf->ToString("")); + }; + + mockSystem->configureCallback = configureCallback; + const size_t systemCount = *server.SystemCount(); + EXPECT_TRUE( + *server.AddSystem( + mockSystemPlugin.value(), entity, sdfPlugin.ToElement() + )); + + // Add pointer + auto mockSystemPtr = std::make_shared(); + mockSystemPtr->configureCallback = configureCallback; + EXPECT_TRUE(*server.AddSystem(mockSystemPtr, entity, sdfPlugin.ToElement())); + + // Add an sdf::Plugin + EXPECT_TRUE(*server.AddSystem(sdfPlugin, entity)); + + // Fail if plugin is invalid + sdf::Plugin invalidPlugin("foo_plugin", "foo::systems::FooPlugin"); + EXPECT_FALSE(*server.AddSystem(invalidPlugin, entity)); + + // Check that it was loaded + EXPECT_EQ(systemCount + 3, *server.SystemCount()); + EXPECT_EQ(2u, configureCallCount); + // No steps should have been executed EXPECT_EQ(0u, mockSystem->preUpdateCallCount); EXPECT_EQ(0u, mockSystem->updateCallCount); @@ -780,16 +804,12 @@ TEST_P(ServerFixture, ServerControlStop) msgs::Boolean res; bool result{false}; bool executed{false}; - int sleep{0}; - int maxSleep{30}; + const std::string service = "/server_control"; + ASSERT_TRUE(test::waitForService(node, service)); // first, call with stop = false; the server should keep running - while (!executed && sleep < maxSleep) - { - gzdbg << "Requesting /server_control" << std::endl; - executed = node.Request("/server_control", req, 100, res, result); - sleep++; - } + gzdbg << "Requesting " << service << std::endl; + executed = node.Request(service, req, 1000, res, result); EXPECT_TRUE(executed); EXPECT_TRUE(result); EXPECT_FALSE(res.data()); @@ -802,8 +822,8 @@ TEST_P(ServerFixture, ServerControlStop) // now call with stop = true; the server should stop req.set_stop(true); - gzdbg << "Requesting /server_control" << std::endl; - executed = node.Request("/server_control", req, 100, res, result); + gzdbg << "Requesting " << service << std::endl; + executed = node.Request(service, req, 1000, res, result); EXPECT_TRUE(executed); EXPECT_TRUE(result); @@ -1047,14 +1067,10 @@ TEST_P(ServerFixture, GetResourcePaths) msgs::StringMsg_V res; bool result{false}; bool executed{false}; - int sleep{0}; - int maxSleep{30}; - while (!executed && sleep < maxSleep) - { - gzdbg << "Requesting /gazebo/resource_paths/get" << std::endl; - executed = node.Request("/gazebo/resource_paths/get", 100, res, result); - sleep++; - } + const std::string service = "/gazebo/resource_paths/get"; + ASSERT_TRUE(test::waitForService(node, service)); + gzdbg << "Requesting " << service << std::endl; + executed = node.Request(service, 1000, res, result); EXPECT_TRUE(executed); EXPECT_TRUE(result); EXPECT_EQ(2, res.data_size()); @@ -1101,7 +1117,9 @@ TEST_P(ServerFixture, AddResourcePaths) common::SystemPaths::Delimiter() + std::string("/tmp/even_more")); req.add_data("/tmp/some/path"); - bool executed = node.Request("/gazebo/resource_paths/add", req); + const std::string service = "/gazebo/resource_paths/add"; + ASSERT_TRUE(test::waitForService(node, service)); + bool executed = node.Request(service, req); EXPECT_TRUE(executed); int sleep{0}; @@ -1155,17 +1173,12 @@ TEST_P(ServerFixture, ResolveResourcePaths) msgs::StringMsg req, res; bool result{false}; bool executed{false}; - int sleep{0}; - int maxSleep{30}; req.set_data(_uri); - while (!executed && sleep < maxSleep) - { - gzdbg << "Requesting /gazebo/resource_paths/resolve" << std::endl; - executed = node.Request("/gazebo/resource_paths/resolve", req, 100, - res, result); - sleep++; - } + const std::string service ="/gazebo/resource_paths/resolve"; + ASSERT_TRUE(test::waitForService(node, service)); + gzdbg << "Requesting " << service << std::endl; + executed = node.Request(service, req, 1000, res, result); EXPECT_TRUE(executed); EXPECT_EQ(_found, result); EXPECT_EQ(_expected, res.data()) << "Expected[" << _expected diff --git a/src/SystemLoader_TEST.cc b/src/SystemLoader_TEST.cc index 4709af5fd8..6550e2b233 100644 --- a/src/SystemLoader_TEST.cc +++ b/src/SystemLoader_TEST.cc @@ -29,29 +29,38 @@ using namespace gz; using namespace sim; +#ifdef _WIN32 + constexpr const char *kPluginDir = "bin"; +#else + constexpr const char *kPluginDir = "lib"; +#endif ///////////////////////////////////////////////// TEST(SystemLoader, Constructor) { - sim::SystemLoader sm; - // Add test plugin to path (referenced in config) auto testBuildPath = gz::common::joinPaths( - std::string(PROJECT_BINARY_PATH), "lib"); - sm.AddSystemPluginPath(testBuildPath); + std::string(PROJECT_BINARY_PATH), kPluginDir); sdf::Root root; root.LoadSdfString(std::string("" - "" - "" + "") + + "" + "" + "" ""); - + ASSERT_NE(root.WorldByIndex(0), nullptr); auto worldElem = root.WorldByIndex(0)->Element(); if (worldElem->HasElement("plugin")) { sdf::ElementPtr pluginElem = worldElem->GetElement("plugin"); while (pluginElem) { + gz::sim::SystemLoader sm; + sm.AddSystemPluginPath(testBuildPath); sdf::Plugin plugin; plugin.Load(pluginElem); auto system = sm.LoadPlugin(plugin); @@ -60,6 +69,40 @@ TEST(SystemLoader, Constructor) } } } +///////////////////////////////////////////////// +TEST(SystemLoader, FromPluginPathEnv) +{ + sdf::Root root; + root.LoadSdfString(R"( + + + + + )"); + + ASSERT_NE(root.WorldCount(), 0u); + auto world = root.WorldByIndex(0); + ASSERT_TRUE(world != nullptr); + ASSERT_FALSE(world->Plugins().empty()); + auto plugin = world->Plugins()[0]; + + { + gz::sim::SystemLoader sm; + auto system = sm.LoadPlugin(plugin); + EXPECT_FALSE(system.has_value()); + } + + const auto libPath = common::joinPaths(PROJECT_BINARY_PATH, kPluginDir); + + { + common::setenv("GZ_SIM_SYSTEM_PLUGIN_PATH", libPath.c_str()); + + gz::sim::SystemLoader sm; + auto system = sm.LoadPlugin(plugin); + EXPECT_TRUE(system.has_value()); + EXPECT_TRUE(common::unsetenv("GZ_SIM_SYSTEM_PLUGIN_PATH")); + } +} ///////////////////////////////////////////////// TEST(SystemLoader, EmptyNames) diff --git a/src/Util.cc b/src/Util.cc index 85e21e4e4f..e7b444bfe7 100644 --- a/src/Util.cc +++ b/src/Util.cc @@ -435,15 +435,31 @@ std::string asFullPath(const std::string &_uri, const std::string &_filePath) return common::joinPaths(path, uri); } +namespace +{ ////////////////////////////////////////////////// -std::vector resourcePaths() +/// \brief Helper function to extract paths form an environment variable +/// refactored from `resourcePaths` below. +/// common::SystemPaths::PathsFromEnv is available, but it's behavior is +/// slightly different from this in that it adds trailing `/` to the end of a +/// path if it doesn't have it already. +std::vector extractPathsFromEnv(const std::string &_envVar) { - std::vector gzPaths; - char *gzPathCStr = std::getenv(kResourcePathEnv.c_str()); - if (gzPathCStr && *gzPathCStr != '\0') + std::vector pathsFromEnv; + char *pathFromEnvCStr = std::getenv(_envVar.c_str()); + if (pathFromEnvCStr && *pathFromEnvCStr != '\0') { - gzPaths = common::Split(gzPathCStr, common::SystemPaths::Delimiter()); + pathsFromEnv = + common::Split(pathFromEnvCStr, common::SystemPaths::Delimiter()); } + return pathsFromEnv; +} +} // namespace + +////////////////////////////////////////////////// +std::vector resourcePaths() +{ + auto gzPaths = extractPathsFromEnv(kResourcePathEnv); gzPaths.erase(std::remove_if(gzPaths.begin(), gzPaths.end(), [](const std::string &_path) @@ -476,36 +492,28 @@ void addResourcePaths(const std::vector &_paths) } // Gazebo resource paths - std::vector gzPaths; - char *gzPathCStr = std::getenv(kResourcePathEnv.c_str()); - if (gzPathCStr && *gzPathCStr != '\0') - { - gzPaths = common::Split(gzPathCStr, common::SystemPaths::Delimiter()); - } + auto gzPaths = extractPathsFromEnv(kResourcePathEnv); - // Add new paths to gzPaths - for (const auto &path : _paths) + auto addUniquePaths = [](std::vector &_container, + const std::vector _pathsToAdd) { - if (std::find(gzPaths.begin(), gzPaths.end(), path) == gzPaths.end()) + for (const auto &path : _pathsToAdd) { - gzPaths.push_back(path); + if (std::find(_container.begin(), _container.end(), path) == + _container.end()) + { + _container.push_back(path); + } } - } + }; + // Add new paths to gzPaths + addUniquePaths(gzPaths, _paths); // Append Gz paths to SDF / Ign paths - for (const auto &path : gzPaths) - { - if (std::find(sdfPaths.begin(), sdfPaths.end(), path) == sdfPaths.end()) - { - sdfPaths.push_back(path); - } + addUniquePaths(sdfPaths, gzPaths); + addUniquePaths(commonPaths, gzPaths); + - if (std::find(commonPaths.begin(), - commonPaths.end(), path) == commonPaths.end()) - { - commonPaths.push_back(path); - } - } // Update the vars std::string sdfPathsStr; diff --git a/src/cmd/runGui_main.cc b/src/cmd/runGui_main.cc new file mode 100644 index 0000000000..0b8aa66d4d --- /dev/null +++ b/src/cmd/runGui_main.cc @@ -0,0 +1,23 @@ +/* + * Copyright (C) 2023 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include "gz/sim/gui/Gui.hh" + +int main(int argc, char* argv[]) +{ + return gz::sim::gui::runGui(argc, argv, nullptr); +} diff --git a/src/gz.cc b/src/gz.cc index bead69e5dd..3c7772e627 100644 --- a/src/gz.cc +++ b/src/gz.cc @@ -470,8 +470,3 @@ extern "C" int runGui(const char *_guiConfig, const char *_file, int _waitGui, return gz::sim::gui::runGui(argc, argv, _guiConfig, _file, _waitGui, _renderEngine, _renderEngineGuiApiBackend); } - -int main(int argc, char* argv[]) -{ - return sim::gui::runGui(argc, argv, nullptr); -} diff --git a/src/gz_TEST.cc b/src/gz_TEST.cc index f01173aba8..18b30d73d0 100644 --- a/src/gz_TEST.cc +++ b/src/gz_TEST.cc @@ -211,12 +211,18 @@ TEST(CmdLine, GZ_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath)) // Correct path auto path = std::string("GZ_SIM_RESOURCE_PATH=") + - PROJECT_SOURCE_PATH + "/test/worlds "; + gz::common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds "); output = customExecStr(path + cmd); EXPECT_EQ(output.find("Unable to find file plugins.sdf"), std::string::npos) << output; + path = std::string("GZ_SIM_RESOURCE_PATH=") + + gz::common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds "); + output = customExecStr(path + cmd); + EXPECT_EQ(output.find("Unable to find file plugins.sdf"), std::string::npos) + << output; + // Several paths path = std::string("GZ_SIM_RESOURCE_PATH=banana:") + PROJECT_SOURCE_PATH + "/test/worlds:orange "; @@ -224,6 +230,22 @@ TEST(CmdLine, GZ_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath)) output = customExecStr(path + cmd); EXPECT_EQ(output.find("Unable to find file plugins.sdf"), std::string::npos) << output; + + // Test nested models + // Use a direct path to the input file. Using a file name that has to be + // resolved interacts with how resource environment variables are processed + // and so will have different behavior than when a direct path is provided. + cmd = kGzCommand + " -s -r -v 4 --iterations 1 " + + gz::common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds", + "include_nested_models.sdf"); + output = customExecStr(cmd); + EXPECT_NE(output.find("Unable to find"), std::string::npos) << output; + + std::string pathValue = + gz::common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds", "models"); + + output = customExecStr("GZ_SIM_RESOURCE_PATH=" + pathValue + " " + cmd); + EXPECT_EQ(output.find("Unable to find"), std::string::npos) << output; } ////////////////////////////////////////////////// diff --git a/src/rendering/MaterialParser/ConfigLoader.cc b/src/rendering/MaterialParser/ConfigLoader.cc new file mode 100644 index 0000000000..8f702749f0 --- /dev/null +++ b/src/rendering/MaterialParser/ConfigLoader.cc @@ -0,0 +1,498 @@ +/* + * Copyright (C) 2023 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ +// This code is adapted from https://wiki.ogre3d.org/All-purpose+script+parser + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include "gz/sim/InstallationDirectories.hh" + +#include "ConfigLoader.hh" + +using namespace gz; +using namespace sim; + +void ConfigLoader::LoadMaterialFiles(ConfigLoader * _c) +{ + try + { + std::string installedConfig = common::joinPaths( + gz::sim::getMediaInstallDir(), + "gazebo.material"); + std::ifstream in(installedConfig, std::ios::binary); + _c->ParseScript(in); + } + catch(std::filesystem::filesystem_error & e) + { + gzerr << e.what() << std::endl; + } +} + +ConfigLoader::ConfigLoader() +{ +} + +ConfigLoader::~ConfigLoader() +{ + clearScriptList(); +} + +void ConfigLoader::clearScriptList() +{ + for (auto & i : mScriptList) + { + delete i.second; + } + mScriptList.clear(); +} + +ConfigNode * ConfigLoader::GetConfigScript(const std::string & _name) +{ + auto i = mScriptList.find(_name); + // If found.. + if (i != mScriptList.end()) + { + return i->second; + } + else + { + return nullptr; + } +} + +std::map ConfigLoader::GetAllConfigScripts() +{ + return mScriptList; +} + +void ConfigLoader::ParseScript(std::ifstream & _stream) +{ + // Get first token + nextToken(_stream); + if (tok == TOKEN_EOF) + { + _stream.close(); + return; + } + + // Parse the script + parseNodes(_stream, 0); + + _stream.close(); +} + +void ConfigLoader::nextToken(std::ifstream & stream) +{ + lastTok = tok; + lastTokVal = tokVal; + + // EOF token + if (stream.eof()) + { + tok = TOKEN_EOF; + return; + } + + // Get next character + int ch = stream.get(); + if (ch == -1) + { + tok = TOKEN_EOF; + return; + } + // Skip leading spaces / tabs + while ((ch == ' ' || ch == 9) && !stream.eof()) + { + ch = stream.get(); + } + + if (stream.eof()) + { + tok = TOKEN_EOF; + return; + } + + // Newline token + if (ch == '\r' || ch == '\n') + { + do + { + ch = stream.get(); + } while ((ch == '\r' || ch == '\n') && !stream.eof()); + + stream.unget(); + + tok = TOKEN_NewLine; + return; + } + else if (ch == '{') + { + // Open brace token + tok = TOKEN_OpenBrace; + return; + } + else if (ch == '}') + { + // Close brace token + tok = TOKEN_CloseBrace; + return; + } + + // Text token + if (ch < 32 || ch > 122) + { // Verify valid char + throw std::runtime_error( + "Parse Error: Invalid character, ConfigLoader::load()"); + } + + tokVal = ""; + tok = TOKEN_Text; + do + { + // Skip comments + if (ch == '/') + { + int ch2 = stream.peek(); + + // C++ style comment (//) + if (ch2 == '/') + { + stream.get(); + do + { + ch = stream.get(); + } while (ch != '\r' && ch != '\n' && !stream.eof()); + + tok = TOKEN_NewLine; + return; + } + else if (ch2 == '*') + { + stream.get(); + do + { + ch = stream.get(); + ch2 = stream.peek(); + } while (!(ch == '*' && ch2 == '/') && !stream.eof()); + stream.get(); + + do + { + ch = stream.get(); + } while (ch != '\r' && ch != '\n' && !stream.eof()); + continue; + } + } + + // Add valid char to tokVal + tokVal += static_cast(ch); + + // Next char + ch = stream.get(); + } while (ch > 32 && ch <= 122 && !stream.eof()); + + stream.unget(); + + return; +} + +void ConfigLoader::skipNewLines(std::ifstream & stream) +{ + while (tok == TOKEN_NewLine) + { + nextToken(stream); + } +} + +void ConfigLoader::parseNodes(std::ifstream & stream, ConfigNode * parent) +{ + typedef std::pair < std::string, ConfigNode * > ScriptItem; + + while (true) + { + switch (tok) + { + // Node + case TOKEN_Text: + // Add the new node + ConfigNode * newNode; + if (parent) + { + newNode = parent->AddChild(tokVal); + } + else + { + newNode = new ConfigNode(0, tokVal); + } + + // Get values + nextToken(stream); + while (tok == TOKEN_Text) + { + newNode->AddValue(tokVal); + nextToken(stream); + } + + // Add root nodes to scriptList + if (!parent) + { + std::string key; + + if (newNode->GetValues().empty()) + { + key = newNode->GetName() + ' '; + } + else + { + key = newNode->GetName() + ' ' + newNode->GetValues().front(); + } + + mScriptList.insert(ScriptItem(key, newNode)); + } + + skipNewLines(stream); + + // Add any sub-nodes + if (tok == TOKEN_OpenBrace) + { + // Parse nodes + nextToken(stream); + parseNodes(stream, newNode); + // Check for matching closing brace + if (tok != TOKEN_CloseBrace) + { + throw std::runtime_error("Parse Error: Expecting closing brace"); + } + nextToken(stream); + skipNewLines(stream); + } + + break; + + // Out of place brace + case TOKEN_OpenBrace: + throw std::runtime_error("Parse Error: Opening brace out of plane"); + break; + + // Return if end of nodes have been reached + case TOKEN_CloseBrace: + return; + + // Return if reached end of file + case TOKEN_EOF: + return; + + case TOKEN_NewLine: + nextToken(stream); + break; + + default: + break; + } + } +} + +ConfigNode::ConfigNode(ConfigNode * _parent, const std::string & _name) +{ + mName = _name; + mParent = _parent; + // For proper destruction + removeSelf = true; + mLastChildFound = -1; + + // Add self to parent's child list + // (unless this is the root node being created) + if (_parent != NULL) + { + mParent->mChildren.push_back(this); + iter = --(mParent->mChildren.end()); + } +} + +ConfigNode::~ConfigNode() +{ + // Delete all children + std::vector < ConfigNode * > ::iterator i; + for (i = mChildren.begin(); i != mChildren.end(); i++) + { + ConfigNode * node = *i; + node->removeSelf = false; + delete node; + } + mChildren.clear(); + + // Remove self from parent's child list + if (removeSelf && mParent != NULL) + { + mParent->mChildren.erase(iter); + } +} + +void ConfigNode::GetColorValues(gz::math::Color & _colorValues, + unsigned int _size) +{ + std::vector floatValues; + ConfigNode::GetValuesInFloat(floatValues); + if (floatValues.size() < _size) + { + gzerr << "Bad material file." << std::endl; + floatValues.resize(_size); + } + + // clamp the color values to valid ranges + for (unsigned int i = 0; i < floatValues.size(); ++i) + { + if (!(floatValues[i] >= 0)) + { + floatValues[i] = 0; + } + if (floatValues[i] > 1) + { + floatValues[i] = floatValues[i]/255.0f; + } + } + + if (_size == 3) + { + _colorValues = gz::math::Color(floatValues[0], floatValues[1], + floatValues[2]); + } + if (_size == 4) + { + _colorValues = gz::math::Color(floatValues[0], floatValues[1], + floatValues[2], floatValues[3]); + } +} + +ConfigNode * ConfigNode::AddChild( + const std::string & _name, bool _replaceExisting) +{ + if (_replaceExisting) + { + ConfigNode * node = FindChild(_name, false); + if (node) + { + return node; + } + } + return new ConfigNode(this, _name); +} + +ConfigNode * ConfigNode::FindChild(const std::string & _name, bool _recursive) +{ + int indx, prevC, nextC; + int childCount = static_cast(mChildren.size()); + + if (mLastChildFound != -1) + { + // If possible, try checking nodes neighboring the last successful search + // (often nodes searched for in sequence, so this will std search speeds). + prevC = mLastChildFound - 1; + if (prevC < 0) + { + prevC = 0; + } + else if (prevC >= childCount) + { + prevC = childCount - 1; + } + nextC = mLastChildFound + 1; + if (nextC < 0) + { + nextC = 0; + } + else if (nextC >= childCount) + { + nextC = childCount - 1; + } + for (indx = prevC; indx <= nextC; ++indx) + { + ConfigNode * node = mChildren[indx]; + if (node->mName == _name) + { + mLastChildFound = indx; + return node; + } + } + + // If not found that way, search for the node from start to finish, + // avoiding the already searched area above. + for (indx = nextC + 1; indx < childCount; ++indx) + { + ConfigNode * node = mChildren[indx]; + if (node->mName == _name) + { + mLastChildFound = indx; + return node; + } + } + for (indx = 0; indx < prevC; ++indx) + { + ConfigNode * node = mChildren[indx]; + if (node->mName == _name) + { + mLastChildFound = indx; + return node; + } + } + } + else + { + // Search for the node from start to finish + for (indx = 0; indx < childCount; ++indx) + { + ConfigNode * node = mChildren[indx]; + if (node->mName == _name) + { + mLastChildFound = indx; + return node; + } + } + } + + // If not found, search child nodes (if recursive == true) + if (_recursive) + { + for (indx = 0; indx < childCount; ++indx) + { + mChildren[indx]->FindChild(_name, _recursive); + } + } + + // Not found anywhere + return NULL; +} + +void ConfigNode::SetParent(ConfigNode * _newParent) +{ + // Remove self from current parent + mParent->mChildren.erase(iter); + + // Set new parent + mParent = _newParent; + + // Add self to new parent + mParent->mChildren.push_back(this); + iter = --(mParent->mChildren.end()); +} diff --git a/src/rendering/MaterialParser/ConfigLoader.hh b/src/rendering/MaterialParser/ConfigLoader.hh new file mode 100644 index 0000000000..569573940b --- /dev/null +++ b/src/rendering/MaterialParser/ConfigLoader.hh @@ -0,0 +1,169 @@ +/* + * Copyright (C) 2023 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ +// This code is adapted from https://wiki.ogre3d.org/All-purpose+script+parser + +#ifndef RENDERING__MATERIALPARSER__CONFIGLOADER_HH_ +#define RENDERING__MATERIALPARSER__CONFIGLOADER_HH_ + +#include +#include +#include +#include +#include + +namespace gz +{ +namespace sim +{ +class ConfigNode; + +class ConfigLoader +{ +public: + static void LoadMaterialFiles(ConfigLoader * _c); + + ConfigLoader(); + + ~ConfigLoader(); + + // For a line like + // entity animals/dog + // { + // ... + // } + // The type is "entity" and the name is "animals/dog" + // Or if animal/dog was not there then name is "" + virtual ConfigNode * GetConfigScript(const std::string & _name); + + virtual std::map GetAllConfigScripts(); + + virtual void ParseScript(std::ifstream & _stream); + +protected: + std::map mScriptList; + + enum Token + { + TOKEN_Text, + TOKEN_NewLine, + TOKEN_OpenBrace, + TOKEN_CloseBrace, + TOKEN_EOF, + }; + + Token tok, lastTok; + std::string tokVal, lastTokVal; + + void parseNodes(std::ifstream & stream, ConfigNode * parent); + void nextToken(std::ifstream & stream); + void skipNewLines(std::ifstream & stream); + + virtual void clearScriptList(); +}; + +class ConfigNode +{ +public: + explicit ConfigNode(ConfigNode * _parent, + const std::string & _name = "untitled"); + + ~ConfigNode(); + + inline void SetName(const std::string & _name) + { + this->mName = _name; + } + + inline std::string & GetName() + { + return mName; + } + + inline void AddValue(const std::string & _value) + { + mValues.push_back(_value); + } + + inline void ClearValues() + { + mValues.clear(); + } + + inline std::vector & GetValues() + { + return mValues; + } + + inline const std::string & GetValue(unsigned int index = 0) + { + assert(index < mValues.size()); + return mValues[index]; + } + + inline void GetValuesInFloat(std::vector & floatValues) + { + for (const auto & str : mValues) + { + floatValues.push_back(std::stof(str)); + } + } + + void GetColorValues(math::Color & _colorValues, unsigned int _size); + + ConfigNode * AddChild( + const std::string & _name = "untitled", bool _replaceExisting = false); + + ConfigNode * FindChild(const std::string & _name, bool _recursive = false); + + inline std::vector & GetChildren() + { + return mChildren; + } + + inline ConfigNode * GetChild(unsigned int index = 0) + { + assert(index < mChildren.size()); + return mChildren[index]; + } + + void SetParent(ConfigNode * newParent); + + inline ConfigNode * GetParent() + { + return mParent; + } + +private: + std::string mName; + + std::vector mValues; + + std::vector mChildren; + + ConfigNode * mParent; + + // The last child node's index found with a call to findChild() + int mLastChildFound; + + std::vector ::iterator iter; + + bool removeSelf; +}; +} // namespace sim +} // namespace gz + +#endif // RENDERING__MATERIALPARSER__CONFIGLOADER_HH_ diff --git a/src/rendering/MaterialParser/MaterialParser.cc b/src/rendering/MaterialParser/MaterialParser.cc new file mode 100644 index 0000000000..d85b7d783f --- /dev/null +++ b/src/rendering/MaterialParser/MaterialParser.cc @@ -0,0 +1,99 @@ +/* + * Copyright (C) 2023 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include +#include +#include +#include +#include + +#include "MaterialParser.hh" + +using namespace gz; +using namespace sim; + +///////////////////////////////////////////////// +MaterialParser::MaterialParser() + : configLoader() +{ +} + +///////////////////////////////////////////////// +void MaterialParser::Load() +{ + ConfigLoader::LoadMaterialFiles(&this->configLoader); +} + +///////////////////////////////////////////////// +std::optional MaterialParser::GetMaterialValues( + const std::string& _material) +{ + std::optional values = std::nullopt; + std::map scripts = + this->configLoader.GetAllConfigScripts(); + + std::map ::iterator it; + + for (it = scripts.begin(); it != scripts.end(); ++it) + { + std::string name = it->first; + if (name.find(_material) != std::string::npos) + { + if (!values) + { + values = MaterialValues(); + } + ConfigNode * node = it->second; + + ConfigNode * techniqueNode = node->FindChild("technique"); + if (techniqueNode) + { + ConfigNode * passNode = techniqueNode->FindChild("pass"); + if (passNode) + { + ConfigNode * ambientNode = passNode->FindChild("ambient"); + if (ambientNode) + { + gz::math::Color ambientValues; + ambientNode->GetColorValues(ambientValues, 3); + values->ambient.emplace(ambientValues); + } + + ConfigNode * diffuseNode = passNode->FindChild("diffuse"); + if (diffuseNode) + { + gz::math::Color diffuseValues; + diffuseNode->GetColorValues(diffuseValues, 3); + values->diffuse.emplace(diffuseValues); + } + + ConfigNode * specularNode = passNode->FindChild("specular"); + if (specularNode) + { + gz::math::Color specularValues; + specularNode->GetColorValues(specularValues, 4); + // Using first four values for specular as + // Gazebo doesn't support shininess + values->specular.emplace(specularValues); + } + } + } + // \todo Handle dependent materials + } + } + return values; +} diff --git a/src/rendering/MaterialParser/MaterialParser.hh b/src/rendering/MaterialParser/MaterialParser.hh new file mode 100644 index 0000000000..b3df18643b --- /dev/null +++ b/src/rendering/MaterialParser/MaterialParser.hh @@ -0,0 +1,54 @@ +/* + * Copyright (C) 2023 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#ifndef RENDERING__MATERIALPARSER__MATERIALPARSER_HH_ +#define RENDERING__MATERIALPARSER__MATERIALPARSER_HH_ + +#include +#include + +#include + +#include "ConfigLoader.hh" + +namespace gz +{ +namespace sim +{ +class MaterialParser +{ + public: + struct MaterialValues + { + std::optional ambient; + std::optional diffuse; + std::optional specular; + }; + + MaterialParser(); + + void Load(); + + std::optional GetMaterialValues(const std::string& _material); + + private: + ConfigLoader configLoader; +}; +} // namespace sim +} // namespace gz + +#endif // RENDERING__MATERIALPARSER__MATERIALPARSER_HH_ diff --git a/src/rendering/MaterialParser/gazebo.material b/src/rendering/MaterialParser/gazebo.material new file mode 100644 index 0000000000..4e96dc2c76 --- /dev/null +++ b/src/rendering/MaterialParser/gazebo.material @@ -0,0 +1,1721 @@ +vertex_program grid_vp_glsl glsl +{ + source grid_vp.glsl +} + +fragment_program grid_fp_glsl glsl +{ + source grid_fp.glsl +} + +material grid +{ + technique + { + pass + { + vertex_program_ref grid_vp_glsl {} + fragment_program_ref grid_fp_glsl {} + } + } +} + +vertex_program Gazebo/DepthMapVS glsl +{ + source depth_map.vert + + default_params + { + param_named_auto texelOffsets texel_offsets + } +} + +fragment_program Gazebo/DepthMapFS glsl +{ + source depth_map.frag + + default_params + { + param_named_auto pNear near_clip_distance + param_named_auto pFar far_clip_distance + } +} + +material Gazebo/DepthMap +{ + technique + { + pass + { + vertex_program_ref Gazebo/DepthMapVS { } + fragment_program_ref Gazebo/DepthMapFS { } + } + } +} + +vertex_program Gazebo/XYZPointsVS glsl +{ + source depth_points_map.vert +} + +fragment_program Gazebo/XYZPointsFS glsl +{ + source depth_points_map.frag + + default_params + { + param_named_auto width viewport_width + param_named_auto height viewport_height + } +} + +material Gazebo/XYZPoints +{ + technique + { + pass pcd_tex + { + separate_scene_blend one zero one zero + + vertex_program_ref Gazebo/XYZPointsVS { } + fragment_program_ref Gazebo/XYZPointsFS { } + } + } +} + +material Gazebo/Reflectance +{ + technique + { + pass + { + lighting off + texture_unit + { + } + } + } +} + +vertex_program Gazebo/XYZNormalsVS glsl +{ + source depth_normals_map.vert +} + +fragment_program Gazebo/XYZNormalsFS glsl +{ + source depth_normals_map.frag +} + +material Gazebo/XYZNormals +{ + technique + { + pass normals_tex + { + separate_scene_blend one zero one zero + + vertex_program_ref Gazebo/XYZNormalsVS { } + fragment_program_ref Gazebo/XYZNormalsFS { } + } + } +} + +vertex_program Gazebo/LaserScan1stVS glsl +{ + source laser_1st_pass.vert +} + +fragment_program Gazebo/LaserScan1stFS glsl +{ + source laser_1st_pass.frag + + default_params + { + param_named retro float 0.0 + param_named_auto near near_clip_distance + param_named_auto far far_clip_distance + } +} + +material Gazebo/LaserScan1st +{ + technique + { + pass laser_tex + { + separate_scene_blend one zero one zero + + vertex_program_ref Gazebo/LaserScan1stVS { } + fragment_program_ref Gazebo/LaserScan1stFS { } + } + } +} + +vertex_program Gazebo/LaserScan2ndVS glsl +{ + source laser_2nd_pass.vert +} + +fragment_program Gazebo/LaserScan2ndFS glsl +{ + source laser_2nd_pass.frag + + default_params + { + param_named tex1 int 0 + param_named tex2 int 1 + param_named tex3 int 2 + param_named_auto texSize texture_size 0 + } +} + +material Gazebo/LaserScan2nd +{ + technique + { + pass laser_tex_2nd + { + separate_scene_blend one zero one zero + + vertex_program_ref Gazebo/LaserScan2ndVS { } + fragment_program_ref Gazebo/LaserScan2ndFS { } + } + } +} + +material Gazebo/Grey +{ + technique + { + pass main + { + ambient .3 .3 .3 1.0 + diffuse .7 .7 .7 1.0 + specular 0.01 0.01 0.01 1.000000 1.500000 + } + } +} +material Gazebo/Gray : Gazebo/Grey +{ + technique + { + pass main + { + ambient .3 .3 .3 1.0 + diffuse .7 .7 .7 1.0 + specular 0.01 0.01 0.01 1.000000 1.500000 + } + } +} + +material Gazebo/DarkGrey +{ + technique + { + pass main + { + ambient .175 .175 .175 1.0 + diffuse .175 .175 .175 1.0 + specular .175 .175 .175 1.000000 1.500000 + } + } +} + +material Gazebo/DarkGray : Gazebo/DarkGrey +{ + technique + { + pass main + { + ambient .175 .175 .175 1.0 + diffuse .175 .175 .175 1.0 + specular .175 .175 .175 1.000000 1.500000 + } + } +} + +material Gazebo/White +{ + technique + { + pass ambient + { + ambient 1 1 1 1 + diffuse 1 1 1 1 + specular .1 .1 .1 128 + } + } +} + +material Gazebo/FlatBlack +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 + diffuse 0.1 0.1 0.1 + specular 0.01 0.01 0.01 1.0 1.0 + } + } +} + +material Gazebo/Black +{ + technique + { + pass + { + ambient 0 0 0 1 + diffuse 0 0 0 1 + specular 0.1 0.1 0.1 1 5.0 + } + } +} + + +material Gazebo/Red +{ + technique + { + pass ambient + { + ambient 1 0 0 + diffuse 1 0 0 + specular 0.1 0.1 0.1 1 1 + } + } +} + +material Gazebo/RedBright +{ + technique + { + pass ambient + { + ambient 0.87 0.26 0.07 + diffuse 0.87 0.26 0.07 + specular 0.87 0.26 0.07 1 1 + } + } +} + +material Gazebo/Green +{ + technique + { + pass ambient + { + ambient 0 1 0 + diffuse 0 1 0 + specular 0.1 0.1 0.1 1 1 + } + } +} + +material Gazebo/Blue +{ + technique + { + pass ambient + { + ambient 0 0 1 + diffuse 0 0 1 + specular 0.1 0.1 0.1 1 1 + } + } +} + +material Gazebo/SkyBlue +{ + technique + { + pass ambient + { + ambient 0.13 0.44 0.70 + diffuse 0 0 1 + specular 0.1 0.1 0.1 1 1 + } + } +} + +material Gazebo/Yellow +{ + technique + { + pass ambient + { + ambient 1 1 0 1 + diffuse 1 1 0 1 + specular 0 0 0 0 0 + } + } +} + +material Gazebo/ZincYellow +{ + technique + { + pass ambient + { + ambient 0.9725 0.9529 0.2078 1 + diffuse 0.9725 0.9529 0.2078 1 + specular 0.9725 0.9529 0.2078 1 1 + } + } +} + +material Gazebo/DarkYellow +{ + technique + { + pass ambient + { + ambient 0.7 0.7 0 1 + diffuse 0.7 0.7 0 1 + specular 0 0 0 0 0 + } + } +} + + +material Gazebo/Purple +{ + technique + { + pass ambient + { + ambient 1 0 1 + diffuse 1 0 1 + specular 0.1 0.1 0.1 1 1 + } + } +} + +material Gazebo/Turquoise +{ + technique + { + pass ambient + { + ambient 0 1 1 + diffuse 0 1 1 + specular 0.1 0.1 0.1 1 1 + } + } +} + +material Gazebo/Orange +{ + technique + { + pass ambient + { + lighting on + + ambient 1 0.5088 0.0468 1 + diffuse 1 0.5088 0.0468 1 + specular 0.5 0.5 0.5 128 + } + } +} + +material Gazebo/Indigo +{ + technique + { + pass ambient + { + ambient 0.33 0.0 0.5 + diffuse 0.33 0.0 0.5 + specular 0.1 0.1 0.1 1 + } + } +} + +material Gazebo/WhiteGlow : Gazebo/White +{ + technique + { + pass light + { + emissive 1 1 1 + } + } +} + +material Gazebo/RedGlow +{ + technique + { + pass ambient + { + ambient 1 0 0 + diffuse 1 0 0 + emissive 1 0 0 + specular 0 0 0 128 + } + + pass light + { + ambient 1 0 0 + diffuse 1 0 0 + emissive 1 0 0 + specular 1 0 0 128 + } + } +} + + + +material Gazebo/GreenGlow : Gazebo/Green +{ + technique + { + pass ambient + { + emissive 0 1 0 + } + + pass light + { + emissive 0 1 0 + } + } +} + +material Gazebo/BlueGlow : Gazebo/Blue +{ + technique + { + pass light + { + emissive 0 0 1 + } + } +} + +material Gazebo/YellowGlow : Gazebo/Yellow +{ + technique + { + pass light + { + emissive 1 1 0 + } + } +} + +material Gazebo/PurpleGlow : Gazebo/Purple +{ + technique + { + pass light + { + emissive 1 0 1 + } + } +} + +material Gazebo/TurquoiseGlow : Gazebo/Turquoise +{ + technique + { + pass light + { + emissive 0 1 1 + } + } +} + +material Gazebo/TurquoiseGlowOutline +{ + technique + { + pass ambient + { + scene_blend alpha_blend + //lighting off + + diffuse 0 1 1 1 + specular .1 .1 .1 128 + } + + pass ambient2 + { + scene_blend alpha_blend + + diffuse 0 1 1 + specular .1 .1 .1 128 + emissive 0 1 1 + + polygon_mode wireframe + } + } +} + +material Gazebo/RedTransparentOverlay +{ + technique + { + pass + { + scene_blend alpha_blend + depth_write off + lighting off + depth_check off + + texture_unit + { + colour_op_ex source1 src_manual src_current 1 0 0 + alpha_op_ex source1 src_manual src_current 0.5 + } + } + } +} + +material Gazebo/BlueTransparentOverlay +{ + technique + { + pass + { + scene_blend alpha_blend + depth_write off + lighting off + depth_check off + + texture_unit + { + colour_op_ex source1 src_manual src_current 0 0 1 + alpha_op_ex source1 src_manual src_current 0.5 + } + } + } +} + +material Gazebo/GreenTransparentOverlay +{ + technique + { + pass + { + scene_blend alpha_blend + depth_write off + lighting off + depth_check off + + texture_unit + { + colour_op_ex source1 src_manual src_current 0 1 0 + alpha_op_ex source1 src_manual src_current 0.5 + } + } + } +} + +material Gazebo/OrangeTransparentOverlay +{ + technique + { + pass + { + scene_blend alpha_blend + depth_write off + lighting off + depth_check off + ambient 1 0.5088 0.0468 + + texture_unit + { + colour_op_ex source1 src_manual src_current 1 0.5088 0.0468 + alpha_op_ex source1 src_manual src_current 0.8 + } + } + } +} + +material Gazebo/DarkOrangeTransparentOverlay +{ + technique + { + pass + { + scene_blend alpha_blend + depth_write off + lighting off + depth_check off + ambient 0.6 0.305 0.028 + + texture_unit + { + colour_op_ex source1 src_manual src_current 0.6 0.305 0.028 + alpha_op_ex source1 src_manual src_current 0.8 + } + } + } +} + +material Gazebo/RedTransparent +{ + technique + { + pass + { + scene_blend alpha_blend + depth_write off + lighting off + + texture_unit + { + colour_op_ex source1 src_manual src_current 1 0 0 + alpha_op_ex source1 src_manual src_current 0.5 + } + } + } +} + +material Gazebo/GreenTransparent +{ + technique + { + pass + { + scene_blend alpha_blend + depth_write off + + ambient 0.0 1.0 0.0 1 + diffuse 0.0 1.0 0.0 1 + + texture_unit + { + colour_op_ex source1 src_current src_current 0 1 0 + alpha_op_ex source1 src_manual src_current 0.5 + } + } + } +} + +material Gazebo/BlueTransparent +{ + technique + { + pass + { + scene_blend alpha_blend + depth_write off + + ambient 0.0 0.0 1.0 1 + diffuse 0.0 0.0 1.0 1 + + texture_unit + { + colour_op_ex source1 src_current src_current 0 1 0 + alpha_op_ex source1 src_manual src_current 0.5 + } + } + } +} + +material Gazebo/DarkMagentaTransparent +{ + technique + { + pass + { + scene_blend alpha_blend + depth_write off + + ambient 0.6 0.0 0.6 1 + diffuse 0.6 0.0 0.6 1 + + texture_unit + { + colour_op_ex source1 src_current src_current 0.6 0 0.6 + alpha_op_ex source1 src_manual src_current 0.5 + } + } + } +} + +material Gazebo/GreyTransparent +{ + technique + { + pass + { + scene_blend alpha_blend + depth_write off + + ambient 0.5 0.5 0.5 1 + diffuse 0.5 0.5 0.5 1 + + texture_unit + { + colour_op_ex source1 src_current src_current 0 1 0 + alpha_op_ex source1 src_manual src_current 0.5 + } + } + } +} + +material Gazebo/BlackTransparent +{ + technique + { + pass + { + scene_blend alpha_blend + depth_write off + + ambient 0.0 0.0 0.0 1 + diffuse 0.0 0.0 0.0 1 + + texture_unit + { + colour_op_ex source1 src_current src_current 0 1 0 + alpha_op_ex source1 src_manual src_current 0.5 + } + } + } +} + +material Gazebo/YellowTransparent +{ + technique + { + pass + { + scene_blend alpha_blend + depth_write off + + ambient 1.0 1.0 0.0 1 + diffuse 1.0 1.0 0.0 1 + + texture_unit + { + colour_op_ex source1 src_current src_current 0 1 0 + alpha_op_ex source1 src_manual src_current 0.5 + } + } + } +} + +material Gazebo/LightOn +{ + technique + { + pass ambient + { + diffuse 0 1 0 + ambient 0 1 0 + emissive 0 1 0 + } + } +} + +material Gazebo/LightOff +{ + technique + { + pass ambient + { + diffuse 1 0 0 + ambient 1 0 0 + emissive 1 0 0 + } + } +} + +material Gazebo/LightBlueLaser +{ + receive_shadows off + + technique + { + pass + { + scene_blend alpha_blend + depth_write off + cull_hardware none + + ambient 0.5 0.5 1.0 1 + diffuse 0.5 0.5 1.0 1 + + texture_unit + { + colour_op_ex source1 src_current src_current 0 1 0 + alpha_op_ex source1 src_manual src_current 0.4 + } + + } + } +} + +material Gazebo/BlueLaser +{ + receive_shadows off + + technique + { + pass + { + scene_blend alpha_blend + depth_write off + cull_hardware none + + ambient 0.0 0.0 1.0 1 + diffuse 0.0 0.0 1.0 1 + + texture_unit + { + colour_op_ex source1 src_current src_current 0 1 0 + alpha_op_ex source1 src_manual src_current 0.4 + } + + } + } +} + +material Gazebo/OrangeTransparent +{ + receive_shadows off + + technique + { + pass + { + scene_blend alpha_blend + depth_write off + + ambient 1.0 0.44 0.0 1 + diffuse 1.0 0.44 0.0 1 + + texture_unit + { + colour_op_ex source1 src_current src_current 0 1 0 + alpha_op_ex source1 src_manual src_current 0.4 + } + + } + } +} + + +material Gazebo/JointAnchor +{ + receive_shadows off + + technique + { + pass + { + ambient 1.000000 1.000000 1.000000 1.000000 + diffuse 1.000000 1.000000 1.000000 1.000000 + specular 1.000000 1.000000 1.000000 1.000000 + emissive 1.000000 1.000000 1.000000 1.000000 + lighting off + } + } +} + +material Gazebo/CoM +{ + technique + { + pass + { + ambient 0.5 0.5 0.5 1.000000 + + texture_unit + { + texture com.png + } + } + } +} + +material Gazebo/WoodFloor +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.000000 + + texture_unit + { + texture hardwood_floor.jpg + } + } + } +} + +material Gazebo/CeilingTiled +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.000000 + + texture_unit + { + texture ceiling_tiled.jpg + } + } + } +} + +material Gazebo/PaintedWall +{ + receive_shadows on + + technique + { + pass + { + ambient 1.0 1.0 1.0 1.000000 + + texture_unit + { + texture paintedWall.jpg + } + } + } +} + +material Gazebo/PioneerBody +{ + receive_shadows on + technique + { + pass Ambient + { + ambient 0.5 0 0 + + texture_unit + { + texture pioneerBody.jpg + filtering trilinear + } + } + pass DirectionalLight + { + ambient 0 0 0 + diffuse 1 0 0 1 + specular 0.5 0 0 1 10 + + texture_unit + { + texture pioneerBody.jpg + filtering trilinear + } + } + pass PointLight + { + ambient 0 0 0 + diffuse 1 0 0 1 + specular 0.5 0 0 1 10 + + texture_unit + { + texture pioneerBody.jpg + filtering trilinear + } + } + + } +} + +material Gazebo/Pioneer2Body +{ + receive_shadows on + technique + { + pass + { + //ambient 0.500000 0.500000 0.500000 1.000000 + ambient 0.481193 0.000123 0.000123 1.000000 + diffuse 0.681193 0.000923 0.000923 1.000000 + specular 0.500000 0.500000 0.500000 1.000000 12.500000 + emissive 0.000000 0.000000 0.000000 1.000000 + } + } +} + +material Gazebo/Gold +{ + receive_shadows on + technique + { + pass + { + ambient 0.400000 0.248690 0.020759 1.000000 + diffuse 0.800000 0.648690 0.120759 1.000000 + specular 0.400000 0.400000 0.400000 1.000000 12.500000 + } + } +} + +material Gazebo/GreyGradientSky +{ + technique + { + pass + { + depth_write off + lighting off + + texture_unit + { + texture grey_gradient.jpg + } + } + } +} + +material Gazebo/CloudySky +{ + technique + { + pass + { + depth_write off + lighting off + + texture_unit + { + texture clouds.jpg + scroll_anim 0.15 0 + } + } + } +} + +material Gazebo/WoodPallet +{ + technique + { + pass + { + ambient 0.5 0.5 0.5 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 0.0 0.0 0.0 1.0 0.5 + + texture_unit + { + texture WoodPallet.png + filtering trilinear + } + } + } + + /* + technique + { + scheme GBuffer + pass DeferredShading/GBuffer/Pass_16 + { + lighting off + + vertex_program_ref Gazebo/NateVS + { + } + + fragment_program_ref Gazebo/NateFS + { + } + } + }*/ +} + +material Gazebo/Wood +{ + technique + { + pass + { + ambient 1.0 1.0 1.0 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 0.2 0.2 0.2 1.0 12.5 + + texture_unit + { + texture wood.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Bricks +{ + technique + { + pass + { + ambient 1.0 1.0 1.0 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 0.2 0.2 0.2 1.0 12.5 + + texture_unit + { + texture bricks.png + filtering trilinear + } + } + } +} + +material Gazebo/Road +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture road1.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Residential +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture residential.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Tertiary +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture residential.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Pedestrian +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture sidewalk.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Footway +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture sidewalk.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Motorway +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture motorway.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Lanes_6 +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture motorway.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Trunk +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture trunk.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Lanes_4 +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture trunk.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Primary +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture primary.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Lanes_2 +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture primary.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Secondary +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture secondary.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Lane_1 +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture secondary.jpg + filtering trilinear + } + } + } +} + +material Gazebo/Steps +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture steps.jpeg + filtering trilinear + } + } + } +} + +material drc/san_fauxcity_sign +{ + receive_shadows off + technique + { + pass + { + ambient 0.8 0.8 0.8 1.0 + diffuse 0.8 0.8 0.8 1.0 + specular 0.1 0.1 0.1 1.0 2.0 + + texture_unit + { + texture san_fauxcity.png + filtering trilinear + } + } + } +} + +vertex_program Gazebo/GaussianCameraNoiseVS glsl +{ + source camera_noise_gaussian_vs.glsl +} + +fragment_program Gazebo/GaussianCameraNoiseFS glsl +{ + source camera_noise_gaussian_fs.glsl + default_params + { + param_named RT int 0 + param_named mean float 0.0 + param_named stddev float 1.0 + param_named offsets float3 0.0 0.0 0.0 + } +} + +material Gazebo/GaussianCameraNoise +{ + technique + { + pass + { + vertex_program_ref Gazebo/GaussianCameraNoiseVS { } + fragment_program_ref Gazebo/GaussianCameraNoiseFS { } + + texture_unit RT + { + tex_coord_set 0 + tex_address_mode clamp + filtering linear linear linear + } + } + } +} + +vertex_program Gazebo/CameraDistortionMapVS glsl +{ + source camera_distortion_map_vs.glsl +} + +fragment_program Gazebo/CameraDistortionMapFS glsl +{ + source camera_distortion_map_fs.glsl + default_params + { + param_named RT int 0 + param_named distortionMap int 1 + param_named scale float3 1.0 1.0 1.0 + } +} + +material Gazebo/CameraDistortionMap +{ + technique + { + pass + { + vertex_program_ref Gazebo/CameraDistortionMapVS { } + fragment_program_ref Gazebo/CameraDistortionMapFS { } + + texture_unit RT + { + tex_coord_set 0 + tex_address_mode border + filtering linear linear linear + } + } + } +} + +vertex_program Gazebo/WideLensMapVS glsl +{ + source wide_lens_map_vs.glsl + default_params + { + param_named ratio float 1 + } +} + +fragment_program Gazebo/WideLensMapFS glsl +{ + source wide_lens_map_fp.glsl + default_params + { + param_named envMap int 0 + param_named c1 float 1 + param_named c2 float 1 + param_named c3 float 0 + param_named f float 1 + param_named fun float3 0 0 1 + param_named cutOffAngle float 3.14 + } +} + +material Gazebo/WideLensMap +{ + technique + { + pass + { + vertex_program_ref Gazebo/WideLensMapVS { } + fragment_program_ref Gazebo/WideLensMapFS { } + } + } +} + + +vertex_program Gazebo/CameraLensFlareVS glsl +{ + source camera_lens_flare_vs.glsl +} + +fragment_program Gazebo/CameraLensFlareFS glsl +{ + source camera_lens_flare_fs.glsl + + default_params + { + param_named RT int 0 + param_named viewport float3 0.0 0.0 0.0 + param_named lightPos float3 0 0 0 + param_named scale float 1.0 + param_named color float3 1.4 1.2 1.0 + } +} + +material Gazebo/CameraLensFlare +{ + technique + { + pass + { + vertex_program_ref Gazebo/CameraLensFlareVS { } + fragment_program_ref Gazebo/CameraLensFlareFS { } + + texture_unit RT + { + tex_coord_set 0 + tex_address_mode border + filtering linear linear linear + } + } + } +} + +material Gazebo/PointCloud +{ + technique + { + pass + { + diffuse vertexcolour + specular vertexcolour + ambient vertexcolour + point_size 3 + point_sprites off + point_size_attenuation off + } + } +} + +material Gazebo/PointHandle +{ + technique + { + pass + { + lighting off + scene_blend alpha_blend + depth_write off + } + } +} + +material Gazebo/BuildingFrame +{ + technique + { + pass + { + ambient 1.0 1.0 1.0 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 0.2 0.2 0.2 1.0 12.5 + + texture_unit + { + texture building_frame.png + filtering trilinear + } + } + } +} + +material Gazebo/Runway +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.000000 + + texture_unit + { + texture runway.png + } + } + } +} + +material Gazebo/Grass +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.000000 + + texture_unit + { + scale .02 .02 + texture grass.jpg + filtering anisotropic + max_anisotropy 16 + } + } + } +} + +material Gazebo/Editor +{ + technique + { + pass ambient + { + ambient 1.0 1.0 1.0 1.0 + diffuse 1.0 1.0 1.0 1 + specular .1 .1 .1 128 + } + } +} + +material Gazebo/EditorPlane +{ + technique + { + pass + { + scene_blend colour_blend + + ambient .3 .3 .3 1.0 + diffuse .7 .7 .7 1.0 + specular 0.01 0.01 0.01 1.000000 1.500000 + } + } +} diff --git a/src/systems/apply_joint_force/ApplyJointForce.cc b/src/systems/apply_joint_force/ApplyJointForce.cc index 4bd269d8ac..19add069df 100644 --- a/src/systems/apply_joint_force/ApplyJointForce.cc +++ b/src/systems/apply_joint_force/ApplyJointForce.cc @@ -43,19 +43,25 @@ class gz::sim::systems::ApplyJointForcePrivate public: transport::Node node; /// \brief Joint Entity + //! [jointEntityDeclaration] public: Entity jointEntity; + //! [jointEntityDeclaration] /// \brief Joint name public: std::string jointName; /// \brief Commanded joint force + //! [forceDeclaration] public: double jointForceCmd; + //! [forceDeclaration] /// \brief mutex to protect jointForceCmd public: std::mutex jointForceCmdMutex; /// \brief Model interface + //! [modelDeclaration] public: Model model{kNullEntity}; + //! [modelDeclaration] }; ////////////////////////////////////////////////// @@ -65,12 +71,14 @@ ApplyJointForce::ApplyJointForce() } ////////////////////////////////////////////////// +//! [Configure] void ApplyJointForce::Configure(const Entity &_entity, const std::shared_ptr &_sdf, EntityComponentManager &_ecm, EventManager &/*_eventMgr*/) { this->dataPtr->model = Model(_entity); + //! [Configure] if (!this->dataPtr->model.Valid(_ecm)) { @@ -96,17 +104,21 @@ void ApplyJointForce::Configure(const Entity &_entity, } // Subscribe to commands + //! [cmdTopic] auto topic = transport::TopicUtils::AsValidTopic("/model/" + this->dataPtr->model.Name(_ecm) + "/joint/" + this->dataPtr->jointName + "/cmd_force"); + //! [cmdTopic] if (topic.empty()) { gzerr << "Failed to create valid topic for [" << this->dataPtr->jointName << "]" << std::endl; return; } + //! [cmdSub] this->dataPtr->node.Subscribe(topic, &ApplyJointForcePrivate::OnCmdForce, this->dataPtr.get()); + //! [cmdSub] gzmsg << "ApplyJointForce subscribing to Double messages on [" << topic << "]" << std::endl; @@ -127,11 +139,13 @@ void ApplyJointForce::PreUpdate(const UpdateInfo &_info, } // If the joint hasn't been identified yet, look for it + //! [findJoint] if (this->dataPtr->jointEntity == kNullEntity) { this->dataPtr->jointEntity = this->dataPtr->model.JointByName(_ecm, this->dataPtr->jointName); } + //! [findJoint] if (this->dataPtr->jointEntity == kNullEntity) return; @@ -141,11 +155,14 @@ void ApplyJointForce::PreUpdate(const UpdateInfo &_info, return; // Update joint force + //! [jointForceComponent] auto force = _ecm.Component( this->dataPtr->jointEntity); + //! [jointForceComponent] std::lock_guard lock(this->dataPtr->jointForceCmdMutex); + //! [modifyComponent] if (force == nullptr) { _ecm.CreateComponent( @@ -156,14 +173,17 @@ void ApplyJointForce::PreUpdate(const UpdateInfo &_info, { force->Data()[0] += this->dataPtr->jointForceCmd; } + //! [modifyComponent] } ////////////////////////////////////////////////// +//! [setForce] void ApplyJointForcePrivate::OnCmdForce(const msgs::Double &_msg) { std::lock_guard lock(this->jointForceCmdMutex); this->jointForceCmd = _msg.data(); } +//! [setForce] GZ_ADD_PLUGIN(ApplyJointForce, System, diff --git a/src/systems/apply_joint_force/ApplyJointForce.hh b/src/systems/apply_joint_force/ApplyJointForce.hh index 0c93a28c20..88ada1ec84 100644 --- a/src/systems/apply_joint_force/ApplyJointForce.hh +++ b/src/systems/apply_joint_force/ApplyJointForce.hh @@ -32,6 +32,14 @@ namespace systems class ApplyJointForcePrivate; /// \brief This system applies a force to the first axis of a specified joint. + /// + /// ## Components + /// + /// This system uses the following components: + /// + /// - gz::sim::components::JointForceCmd: A std::vector of force commands + /// of type `double`. Only element `[0]` is used, for applying force to + /// the specified joint. class ApplyJointForce : public System, public ISystemConfigure, diff --git a/src/systems/environment_preload/EnvironmentPreload.cc b/src/systems/environment_preload/EnvironmentPreload.cc index 031dc21ee9..3aa0ca4e7a 100644 --- a/src/systems/environment_preload/EnvironmentPreload.cc +++ b/src/systems/environment_preload/EnvironmentPreload.cc @@ -71,7 +71,7 @@ class gz::sim::systems::EnvironmentPreloadPrivate public: bool visualize{false}; /// \brief Sample resolutions - public: math::Vector3d samples; + public: math::Vector3 samples; /// \brief Is the file loaded public: bool fileLoaded{false}; @@ -106,8 +106,13 @@ class gz::sim::systems::EnvironmentPreloadPrivate // Only visualize if a file exists return; } - auto converted = msgs::Convert(_resChanged); - if (this->samples == converted) + math::Vector3 converted{ + static_cast(ceil(_resChanged.x())), + static_cast(ceil(_resChanged.y())), + static_cast(ceil(_resChanged.z()))}; + if (this->samples.X() == converted.X() && + this->samples.Y() == converted.Y() && + this->samples.Z() == converted.Z()) { // If the sample has not changed return. // This is because resampling is expensive. diff --git a/src/systems/environment_preload/VisualizationTool.cc b/src/systems/environment_preload/VisualizationTool.cc index 75b37b6557..338b92aede 100644 --- a/src/systems/environment_preload/VisualizationTool.cc +++ b/src/systems/environment_preload/VisualizationTool.cc @@ -61,7 +61,7 @@ void EnvironmentVisualizationTool::Step( const UpdateInfo &_info, const EntityComponentManager &_ecm, const std::shared_ptr &_data, - double _xSamples, double _ySamples, double _zSamples) + unsigned int _xSamples, unsigned int _ySamples, unsigned int _zSamples) { if (this->finishedTime) { @@ -114,7 +114,7 @@ void EnvironmentVisualizationTool::Step( ///////////////////////////////////////////////// void EnvironmentVisualizationTool::Visualize( const std::shared_ptr &_data, - double _xSamples, double _ySamples, double _zSamples) + unsigned int _xSamples, unsigned int _ySamples, unsigned int _zSamples) { for (auto key : _data->frame.Keys()) { @@ -126,13 +126,13 @@ void EnvironmentVisualizationTool::Visualize( auto dy = step.Y() / _ySamples; auto dz = step.Z() / _zSamples; std::size_t idx = 0; - for (std::size_t x_steps = 0; x_steps < ceil(_xSamples); x_steps++) + for (std::size_t x_steps = 0; x_steps < _xSamples; x_steps++) { auto x = lower_bound.X() + x_steps * dx; - for (std::size_t y_steps = 0; y_steps < ceil(_ySamples); y_steps++) + for (std::size_t y_steps = 0; y_steps < _ySamples; y_steps++) { auto y = lower_bound.Y() + y_steps * dy; - for (std::size_t z_steps = 0; z_steps < ceil(_zSamples); z_steps++) + for (std::size_t z_steps = 0; z_steps < _zSamples; z_steps++) { auto z = lower_bound.Z() + z_steps * dz; auto res = frame.LookUp(session, math::Vector3d(x, y, z)); diff --git a/src/systems/environment_preload/VisualizationTool.hh b/src/systems/environment_preload/VisualizationTool.hh index bb2e2fce1b..06505c042b 100644 --- a/src/systems/environment_preload/VisualizationTool.hh +++ b/src/systems/environment_preload/VisualizationTool.hh @@ -69,7 +69,7 @@ class EnvironmentVisualizationTool /// \brief Create publisher structures whenever a new environment is made /// available. - /// \param[in] _data Data to be visuallized + /// \param[in] _data Data to be visualized /// \param[in] _info simulation info for current time step private: void CreatePointCloudTopics( const std::shared_ptr &_data, @@ -81,7 +81,7 @@ class EnvironmentVisualizationTool /// \brief Step the visualizations /// \param[in] _info The simulation info including timestep /// \param[in] _ecm The Entity-Component-Manager - /// \param[in] _data The data to be visuallized + /// \param[in] _data The data to be visualized /// \param[in] _xSample Samples along x /// \param[in] _ySample Samples along y /// \param[in] _zSample Samples along z @@ -89,16 +89,16 @@ class EnvironmentVisualizationTool const UpdateInfo &_info, const EntityComponentManager &_ecm, const std::shared_ptr &_data, - double _xSamples, double _ySamples, double _zSamples); + unsigned int _xSamples, unsigned int _ySamples, unsigned int _zSamples); /// \brief Publishes a sample of the data - /// \param[in] _data The data to be visuallized + /// \param[in] _data The data to be visualized /// \param[in] _xSample Samples along x /// \param[in] _ySample Samples along y /// \param[in] _zSample Samples along z private: void Visualize( const std::shared_ptr &_data, - double _xSamples, double _ySamples, double _zSamples); + unsigned int _xSamples, unsigned int _ySamples, unsigned int _zSamples); /// \brief Get the point cloud data. private: void Publish(); @@ -106,7 +106,7 @@ class EnvironmentVisualizationTool /// \brief Resize the point cloud structure (used to reallocate /// memory when resolution changes) /// \param[in] _ecm The Entity-Component-Manager - /// \param[in] _data The data to be visuallized + /// \param[in] _data The data to be visualized /// \param[in] _xSample Samples along x /// \param[in] _ySample Samples along y /// \param[in] _zSample Samples along z diff --git a/src/systems/joint_position_controller/JointPositionController.cc b/src/systems/joint_position_controller/JointPositionController.cc index 154b1f8ccc..80d36c2f9e 100644 --- a/src/systems/joint_position_controller/JointPositionController.cc +++ b/src/systems/joint_position_controller/JointPositionController.cc @@ -320,6 +320,21 @@ void JointPositionController::PreUpdate( { GZ_PROFILE("JointPositionController::PreUpdate"); + // \TODO(anyone) This is a temporary fix for + // gazebosim/gz-sim#2165 until gazebosim/gz-sim#2217 is resolved. + if (kNullEntity == this->dataPtr->model.Entity()) + { + return; + } + + if (!this->dataPtr->model.Valid(_ecm)) + { + gzwarn << "JointPositionController model no longer valid. " + << "Disabling plugin." << std::endl; + this->dataPtr->model = Model(kNullEntity); + return; + } + // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) { diff --git a/src/systems/lift_drag/LiftDrag.cc b/src/systems/lift_drag/LiftDrag.cc index 483c1fadd0..c83837c5ff 100644 --- a/src/systems/lift_drag/LiftDrag.cc +++ b/src/systems/lift_drag/LiftDrag.cc @@ -74,7 +74,7 @@ class gz::sim::systems::LiftDragPrivate /// \brief Coefficient of Moment / alpha slope. /// Moment = C_M * q * S /// where q (dynamic pressure) = 0.5 * rho * v^2 - public: double cma = 0.01; + public: double cma = 0.0; /// \brief angle of attach when airfoil stalls public: double alphaStall = GZ_PI_2; @@ -280,7 +280,9 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) } if (!worldLinVel || !worldAngVel || !worldPose) + { return; + } const auto &pose = worldPose->Data(); const auto cpWorld = pose.Rot().RotateVector(this->cp); @@ -292,7 +294,9 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) } if (vel.Length() <= 0.01) + { return; + } const auto velI = vel.Normalized(); @@ -327,8 +331,10 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) double sinSweepAngle = math::clamp( spanwiseI.Dot(velI), minRatio, maxRatio); - // get cos from trig identity - double cosSweepAngle = sqrt(1.0 - sinSweepAngle * sinSweepAngle); + // The sweep adjustment depends on the velocity component normal to + // the wing leading edge which appears quadratically in the + // dynamic pressure, so scale by cos^2 . + double cos2SweepAngle = 1.0 - sinSweepAngle * sinSweepAngle; double sweep = std::asin(sinSweepAngle); // truncate sweep to within +/-90 deg @@ -390,7 +396,7 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) { cl = (this->cla * this->alphaStall + this->claStall * (alpha - this->alphaStall)) * - cosSweepAngle; + cos2SweepAngle; // make sure cl is still great than 0 cl = std::max(0.0, cl); } @@ -398,12 +404,12 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) { cl = (-this->cla * this->alphaStall + this->claStall * (alpha + this->alphaStall)) - * cosSweepAngle; + * cos2SweepAngle; // make sure cl is still less than 0 cl = std::min(0.0, cl); } else - cl = this->cla * alpha * cosSweepAngle; + cl = this->cla * alpha * cos2SweepAngle; // modify cl per control joint value if (controlJointPosition && !controlJointPosition->Data().empty()) @@ -421,16 +427,16 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) { cd = (this->cda * this->alphaStall + this->cdaStall * (alpha - this->alphaStall)) - * cosSweepAngle; + * cos2SweepAngle; } else if (alpha < -this->alphaStall) { cd = (-this->cda * this->alphaStall + this->cdaStall * (alpha + this->alphaStall)) - * cosSweepAngle; + * cos2SweepAngle; } else - cd = (this->cda * alpha) * cosSweepAngle; + cd = (this->cda * alpha) * cos2SweepAngle; // make sure drag is positive cd = std::fabs(cd); @@ -444,7 +450,7 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) { cm = (this->cma * this->alphaStall + this->cmaStall * (alpha - this->alphaStall)) - * cosSweepAngle; + * cos2SweepAngle; // make sure cm is still great than 0 cm = std::max(0.0, cm); } @@ -452,12 +458,12 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) { cm = (-this->cma * this->alphaStall + this->cmaStall * (alpha + this->alphaStall)) - * cosSweepAngle; + * cos2SweepAngle; // make sure cm is still less than 0 cm = std::min(0.0, cm); } else - cm = this->cma * alpha * cosSweepAngle; + cm = this->cma * alpha * cos2SweepAngle; // Take into account the effect of control surface deflection angle to cm if (controlJointPosition && !controlJointPosition->Data().empty()) diff --git a/src/systems/odometry_publisher/OdometryPublisher.cc b/src/systems/odometry_publisher/OdometryPublisher.cc index 1195e7398f..8473328320 100644 --- a/src/systems/odometry_publisher/OdometryPublisher.cc +++ b/src/systems/odometry_publisher/OdometryPublisher.cc @@ -278,6 +278,21 @@ void OdometryPublisher::PreUpdate(const gz::sim::UpdateInfo &_info, { GZ_PROFILE("OdometryPublisher::PreUpdate"); + // \TODO(anyone) This is a temporary fix for + // gazebosim/gz-sim#2165 until gazebosim/gz-sim#2217 is resolved. + if (kNullEntity == this->dataPtr->model.Entity()) + { + return; + } + + if (!this->dataPtr->model.Valid(_ecm)) + { + gzwarn << "OdometryPublisher model no longer valid. " + << "Disabling plugin." << std::endl; + this->dataPtr->model = Model(kNullEntity); + return; + } + // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) { @@ -301,6 +316,15 @@ void OdometryPublisher::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { GZ_PROFILE("OdometryPublisher::PostUpdate"); + + // \TODO(anyone) This is a temporary fix for + // gazebosim/gz-sim#2165 until gazebosim/gz-sim#2217 is resolved. + if (kNullEntity == this->dataPtr->model.Entity()) + { + return; + } + + // Nothing left to do if paused. if (_info.paused) return; diff --git a/src/systems/user_commands/UserCommands.cc b/src/systems/user_commands/UserCommands.cc index c5796c5d7e..c79e392551 100644 --- a/src/systems/user_commands/UserCommands.cc +++ b/src/systems/user_commands/UserCommands.cc @@ -1,5 +1,7 @@ /* * Copyright (C) 2019 Open Source Robotics Foundation + * Copyright (C) 2024 CogniPilot Foundation + * Copyright (C) 2024 Rudis Laboratories LLC * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -33,6 +35,7 @@ #include #include #include +#include #include #include #include @@ -45,6 +48,7 @@ #include #include +#include #include #include @@ -115,6 +119,9 @@ class UserCommandsInterface /// \return True if a contact sensor is connected to the collision entity, /// false otherwise public: bool HasContactSensor(const Entity _collision); + + /// \brief Bool to set all matching light entities. + public: bool setAllLightEntities = false; }; /// \brief All user commands should inherit from this class so they can be @@ -326,6 +333,12 @@ class VisualCommand : public UserCommandBase public: VisualCommand(msgs::Visual *_msg, std::shared_ptr &_iface); + /// \brief Constructor + /// \param[in] _msg Message containing the material color parameters. + /// \param[in] _iface Pointer to user commands interface. + public: VisualCommand(msgs::MaterialColor *_msg, + std::shared_ptr &_iface); + // Documentation inherited public: bool Execute() final; @@ -458,6 +471,10 @@ class gz::sim::systems::UserCommandsPrivate /// \param[in] _msg Light message public: void OnCmdLight(const msgs::Light &_msg); + /// \brief Callback for MaterialColor subscription + /// \param[in] _msg MaterialColor message + public: void OnCmdMaterialColor(const msgs::MaterialColor &_msg); + /// \brief Callback for pose service /// \param[in] _req Request containing pose update of an entity. /// \param[out] _res True if message successfully received and queued. @@ -596,7 +613,7 @@ bool UserCommandsInterface::HasContactSensor(const Entity _collision) ////////////////////////////////////////////////// void UserCommands::Configure(const Entity &_entity, - const std::shared_ptr &, + const std::shared_ptr &_sdf, EntityComponentManager &_ecm, EventManager &_eventManager) { @@ -666,6 +683,20 @@ void UserCommands::Configure(const Entity &_entity, this->dataPtr->node.Subscribe(lightTopic, &UserCommandsPrivate::OnCmdLight, this->dataPtr.get()); + if (_sdf->HasElement("set_all_light_entities")) + { + this->dataPtr->iface->setAllLightEntities = + _sdf->Get("set_all_light_entities"); + gzdbg << "Set all light entities: " + << this->dataPtr->iface->setAllLightEntities + << std::endl; + } + + std::string materialColorTopic{ + "/world/" + validWorldName + "/material_color"}; + this->dataPtr->node.Subscribe(materialColorTopic, + &UserCommandsPrivate::OnCmdMaterialColor, this->dataPtr.get()); + // Physics service std::string physicsService{"/world/" + validWorldName + "/set_physics"}; this->dataPtr->node.Advertise(physicsService, @@ -840,7 +871,6 @@ void UserCommandsPrivate::OnCmdLight(const msgs::Light &_msg) } } - ////////////////////////////////////////////////// bool UserCommandsPrivate::PoseService(const msgs::Pose &_req, msgs::Boolean &_res) @@ -953,6 +983,21 @@ bool UserCommandsPrivate::VisualService(const msgs::Visual &_req, return true; } +////////////////////////////////////////////////// +void UserCommandsPrivate::OnCmdMaterialColor(const msgs::MaterialColor &_msg) +{ + auto msg = _msg.New(); + msg->CopyFrom(_msg); + auto cmd = std::make_unique(msg, this->iface); + // Push to pending + { + std::lock_guard lock(this->pendingMutex); + this->pendingCmds.push_back(std::move(cmd)); + } + + return; +} + ////////////////////////////////////////////////// bool UserCommandsPrivate::WheelSlipService( const msgs::WheelSlipParametersCmd &_req, @@ -1328,79 +1373,142 @@ LightCommand::LightCommand(msgs::Light *_msg, ////////////////////////////////////////////////// bool LightCommand::Execute() { - auto lightMsg = dynamic_cast(this->msg); + auto lightMsg = dynamic_cast(this->msg); if (nullptr == lightMsg) { gzerr << "Internal error, null light message" << std::endl; return false; } + Entity lightEntity = kNullEntity; + if (this->iface->setAllLightEntities) + { + auto entities = entitiesFromScopedName(lightMsg->name(), + *this->iface->ecm); + if (entities.empty()) + { + gzwarn << "Entity name: " << lightMsg->name() << ", is not found." + << std::endl; + return false; + } + for (const Entity &id : entities) + { + lightEntity = kNullEntity; + lightMsg->set_id(id); + if (lightMsg->id() != kNullEntity) + { + lightEntity = lightMsg->id(); + } + if (!lightEntity) + { + gzmsg << "Failed to find light entity named [" << lightMsg->name() + << "]." << std::endl; + return false; + } + + auto lightPose = + this->iface->ecm->Component(lightEntity); + if (nullptr == lightPose) + { + lightEntity = kNullEntity; + } - Entity lightEntity{kNullEntity}; + if (!lightEntity) + { + gzmsg << "Pose component not available" << std::endl; + return false; + } - if (lightMsg->id() != kNullEntity) - { - lightEntity = lightMsg->id(); + if (lightMsg->has_pose()) + { + lightPose->Data().Pos() = msgs::Convert(lightMsg->pose()).Pos(); + } + + auto lightCmdComp = + this->iface->ecm->Component(lightEntity); + if (!lightCmdComp) + { + this->iface->ecm->CreateComponent( + lightEntity, components::LightCmd(*lightMsg)); + } + else + { + auto state = lightCmdComp->SetData(*lightMsg, this->lightEql) ? + ComponentState::OneTimeChange : + ComponentState::NoChange; + this->iface->ecm->SetChanged(lightEntity, components::LightCmd::typeId, + state); + } + } } - else if (!lightMsg->name().empty()) + else { - if (lightMsg->parent_id() != kNullEntity) + lightEntity = kNullEntity; + if (lightMsg->id() != kNullEntity) { - lightEntity = this->iface->ecm->EntityByComponents( - components::Name(lightMsg->name()), - components::ParentEntity(lightMsg->parent_id())); + lightEntity = lightMsg->id(); } - else + else if (!lightMsg->name().empty()) + { + if (lightMsg->parent_id() != kNullEntity) + { + lightEntity = this->iface->ecm->EntityByComponents( + components::Name(lightMsg->name()), + components::ParentEntity(lightMsg->parent_id())); + } + else + { + lightEntity = this->iface->ecm->EntityByComponents( + components::Name(lightMsg->name())); + } + } + if (kNullEntity == lightEntity) { - lightEntity = this->iface->ecm->EntityByComponents( - components::Name(lightMsg->name())); + gzerr << "Failed to find light with name [" << lightMsg->name() + << "], ID [" << lightMsg->id() << "] and parent ID [" + << lightMsg->parent_id() << "]." << std::endl; + return false; } - } - if (kNullEntity == lightEntity) - { - gzerr << "Failed to find light with name [" << lightMsg->name() - << "], ID [" << lightMsg->id() << "] and parent ID [" - << lightMsg->parent_id() << "]." << std::endl; - return false; - } - if (!lightEntity) - { - gzmsg << "Failed to find light entity named [" << lightMsg->name() - << "]." << std::endl; - return false; - } + if (!lightEntity) + { + gzmsg << "Failed to find light entity named [" << lightMsg->name() + << "]." << std::endl; + return false; + } - auto lightPose = this->iface->ecm->Component(lightEntity); - if (nullptr == lightPose) - lightEntity = kNullEntity; + auto lightPose = this->iface->ecm->Component(lightEntity); + if (nullptr == lightPose) + { + lightEntity = kNullEntity; + } - if (!lightEntity) - { - gzmsg << "Pose component not available" << std::endl; - return false; - } + if (!lightEntity) + { + gzmsg << "Pose component not available" << std::endl; + return false; + } - if (lightMsg->has_pose()) - { - lightPose->Data().Pos() = msgs::Convert(lightMsg->pose()).Pos(); - } + if (lightMsg->has_pose()) + { + lightPose->Data().Pos() = msgs::Convert(lightMsg->pose()).Pos(); + } - auto lightCmdComp = - this->iface->ecm->Component(lightEntity); - if (!lightCmdComp) - { - this->iface->ecm->CreateComponent( - lightEntity, components::LightCmd(*lightMsg)); - } - else - { - auto state = lightCmdComp->SetData(*lightMsg, this->lightEql) ? - ComponentState::OneTimeChange : - ComponentState::NoChange; - this->iface->ecm->SetChanged(lightEntity, components::LightCmd::typeId, - state); + auto lightCmdComp = + this->iface->ecm->Component(lightEntity); + if (!lightCmdComp) + { + this->iface->ecm->CreateComponent( + lightEntity, components::LightCmd(*lightMsg)); + } + else + { + auto state = lightCmdComp->SetData(*lightMsg, this->lightEql) ? + ComponentState::OneTimeChange : + ComponentState::NoChange; + this->iface->ecm->SetChanged(lightEntity, components::LightCmd::typeId, + state); + } } - return true; } @@ -1720,57 +1828,128 @@ VisualCommand::VisualCommand(msgs::Visual *_msg, { } +////////////////////////////////////////////////// +VisualCommand::VisualCommand(msgs::MaterialColor *_msg, + std::shared_ptr &_iface) + : UserCommandBase(_msg, _iface) +{ +} + ////////////////////////////////////////////////// bool VisualCommand::Execute() { auto visualMsg = dynamic_cast(this->msg); - if (nullptr == visualMsg) + auto materialColorMsg = dynamic_cast(this->msg); + if (visualMsg != nullptr) { - gzerr << "Internal error, null visual message" << std::endl; - return false; - } + Entity visualEntity = kNullEntity; + if (visualMsg->id() != kNullEntity) + { + visualEntity = visualMsg->id(); + } + else if (!visualMsg->name().empty() && !visualMsg->parent_name().empty()) + { + Entity parentEntity = + this->iface->ecm->EntityByComponents( + components::Name(visualMsg->parent_name())); - Entity visualEntity = kNullEntity; - if (visualMsg->id() != kNullEntity) - { - visualEntity = visualMsg->id(); - } - else if (!visualMsg->name().empty() && !visualMsg->parent_name().empty()) - { - Entity parentEntity = - this->iface->ecm->EntityByComponents( - components::Name(visualMsg->parent_name())); + auto entities = + this->iface->ecm->ChildrenByComponents(parentEntity, + components::Name(visualMsg->name())); - auto entities = - this->iface->ecm->ChildrenByComponents(parentEntity, - components::Name(visualMsg->name())); + // When size > 1, we don't know which entity to modify + if (entities.size() == 1) + { + visualEntity = entities[0]; + } + } - // When size > 1, we don't know which entity to modify - if (entities.size() == 1) + if (visualEntity == kNullEntity) { - visualEntity = entities[0]; + gzerr << "Failed to find visual entity" << std::endl; + return false; } - } - if (visualEntity == kNullEntity) - { - gzerr << "Failed to find visual entity" << std::endl; - return false; + auto visualCmdComp = + this->iface->ecm->Component(visualEntity); + if (!visualCmdComp) + { + this->iface->ecm->CreateComponent( + visualEntity, components::VisualCmd(*visualMsg)); + } + else + { + auto state = visualCmdComp->SetData(*visualMsg, this->visualEql) ? + ComponentState::OneTimeChange : ComponentState::NoChange; + this->iface->ecm->SetChanged( + visualEntity, components::VisualCmd::typeId, state); + } } - - auto visualCmdComp = - this->iface->ecm->Component(visualEntity); - if (!visualCmdComp) + else if (materialColorMsg != nullptr) { - this->iface->ecm->CreateComponent( - visualEntity, components::VisualCmd(*visualMsg)); + Entity visualEntity = kNullEntity; + int numberOfEntities = 0; + auto entities = entitiesFromScopedName(materialColorMsg->entity().name(), + *this->iface->ecm); + if (entities.empty()) + { + gzwarn << "Entity name: " << materialColorMsg->entity().name() + << ", is not found." + << std::endl; + return false; + } + for (const Entity &id : entities) + { + if ((numberOfEntities > 0) && (materialColorMsg->entity_match() != + gz::msgs::MaterialColor::EntityMatch::MaterialColor_EntityMatch_ALL)) + { + return true; + } + numberOfEntities++; + msgs::Visual visualMCMsg; + visualMCMsg.set_id(id); + visualMCMsg.mutable_material()->mutable_ambient()->CopyFrom( + materialColorMsg->ambient()); + visualMCMsg.mutable_material()->mutable_diffuse()->CopyFrom( + materialColorMsg->diffuse()); + visualMCMsg.mutable_material()->mutable_specular()->CopyFrom( + materialColorMsg->specular()); + visualMCMsg.mutable_material()->mutable_emissive()->CopyFrom( + materialColorMsg->emissive()); + // TODO(anyone) Enable setting shininess + visualEntity = kNullEntity; + if (visualMCMsg.id() != kNullEntity) + { + visualEntity = visualMCMsg.id(); + } + if (visualEntity == kNullEntity) + { + gzerr << "Failed to find visual entity" << std::endl; + return false; + } + + auto visualCmdComp = + this->iface->ecm->Component(visualEntity); + if (!visualCmdComp) + { + this->iface->ecm->CreateComponent( + visualEntity, components::VisualCmd(visualMCMsg)); + } + else + { + auto state = visualCmdComp->SetData(visualMCMsg, this->visualEql) ? + ComponentState::OneTimeChange : ComponentState::NoChange; + this->iface->ecm->SetChanged( + visualEntity, components::VisualCmd::typeId, state); + } + } } else { - auto state = visualCmdComp->SetData(*visualMsg, this->visualEql) ? - ComponentState::OneTimeChange : ComponentState::NoChange; - this->iface->ecm->SetChanged( - visualEntity, components::VisualCmd::typeId, state); + gzerr << + "VisualCommand _msg does not match MaterialColor or Visual msg type." + << std::endl; + return false; } return true; } diff --git a/test/helpers/Util.hh b/test/helpers/Util.hh new file mode 100644 index 0000000000..0584403210 --- /dev/null +++ b/test/helpers/Util.hh @@ -0,0 +1,49 @@ +/* + * Copyright (C) 2024 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include +#include +#include +#include + +#include + +namespace gz::sim::test +{ +/// \brief Wait until a service becomes available. +/// See https://github.com/gazebosim/gz-transport/issues/468 for why this might +/// be necessary before make a service request. +/// \param[in] _node Transport Node to use +/// \param[in] _service Name of service to wait for +/// \param[in] _timeoutS Time out in seconds +bool waitForService(const transport::Node &_node, const std::string &_service, + int _timeoutS = 5) +{ + int curSleep = 0; + while (curSleep < _timeoutS) + { + std::vector publishers; + if (_node.ServiceInfo(_service, publishers)) + { + return true; + } + std::this_thread::sleep_for(std::chrono::seconds(1)); + ++curSleep; + } + return false; +} +} // namespace gz::sim::test diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index 7ed4703dec..61f350bd73 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -48,6 +48,7 @@ set(tests logical_camera_system.cc logical_audio_sensor_plugin.cc magnetometer_system.cc + material.cc mesh_inertia_calculation.cc model.cc model_photo_shoot_default_joints.cc diff --git a/test/integration/ModelPhotoShootTest.hh b/test/integration/ModelPhotoShootTest.hh index 5636036267..ab98a3c3f3 100644 --- a/test/integration/ModelPhotoShootTest.hh +++ b/test/integration/ModelPhotoShootTest.hh @@ -230,7 +230,6 @@ class ModelPhotoShootTest : public InternalFixture<::testing::Test> // First run of the server generating images through the plugin. TestFixture fixture(common::joinPaths(std::string(PROJECT_SOURCE_PATH), _sdfWorld)); - fixture.Server()->SetUpdatePeriod(1ns); common::ConnectionPtr postRenderConn; fixture.OnConfigure([&]( @@ -243,7 +242,12 @@ class ModelPhotoShootTest : public InternalFixture<::testing::Test> std::bind(&ModelPhotoShootTest::OnPostRender, this)); }).Finalize(); - fixture.Server()->Run(true, 50, false); + fixture.Server()->SetUpdatePeriod(1ns); + + for (int i = 0; i < 50; ++i) + { + fixture.Server()->RunOnce(true); + } this->LoadPoseValues(); fixture.OnPreUpdate([&](const sim::UpdateInfo &, @@ -285,7 +289,7 @@ class ModelPhotoShootTest : public InternalFixture<::testing::Test> } this->checkRandomJoints = false; } - }).Finalize(); + }); this->takeTestPics = true; @@ -293,7 +297,7 @@ class ModelPhotoShootTest : public InternalFixture<::testing::Test> std::chrono::milliseconds(3000); while (takeTestPics && end_time > std::chrono::steady_clock::now()) { - fixture.Server()->Run(true, 1, false); + fixture.Server()->RunOnce(true); std::this_thread::sleep_for(std::chrono::milliseconds(1)); } testImages("1.png", "1_test.png"); diff --git a/test/integration/distortion_camera.cc b/test/integration/distortion_camera.cc index ce77238260..5550f71a65 100644 --- a/test/integration/distortion_camera.cc +++ b/test/integration/distortion_camera.cc @@ -67,7 +67,7 @@ void imageCb(const msgs::Image &_msg) ///////////////////////////////////////////////// // The test checks the Distortion Camera readings TEST_F(DistortionCameraTest, - GZ_UTILS_TEST_DISABLED_ON_MAC(DistortionCameraBox)) + DISABLED_DistortionCameraBox) { // Start server ServerConfig serverConfig; diff --git a/test/integration/joint.cc b/test/integration/joint.cc index 12044025c6..423d9b6e4e 100644 --- a/test/integration/joint.cc +++ b/test/integration/joint.cc @@ -280,7 +280,7 @@ TEST_F(JointIntegrationTest, SetForce) std::vector forceCmd{10}; joint.SetForce(ecm, forceCmd); - // velocity cmd should exist + // force cmd should exist EXPECT_NE(nullptr, ecm.Component(eJoint)); EXPECT_EQ(forceCmd, ecm.Component(eJoint)->Data()); diff --git a/test/integration/material.cc b/test/integration/material.cc new file mode 100644 index 0000000000..6d8ca1599f --- /dev/null +++ b/test/integration/material.cc @@ -0,0 +1,298 @@ +/* + * Copyright (C) 2023 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ +#include + +#include +#include + +#include +#include + +#include + +#include "gz/sim/EntityComponentManager.hh" +#include "gz/sim/EventManager.hh" +#include "gz/sim/Model.hh" +#include "gz/sim/SdfEntityCreator.hh" +#include "gz/sim/Server.hh" +#include "gz/sim/SystemLoader.hh" +#include "gz/sim/Types.hh" +#include "test_config.hh" + +#include "gz/sim/components/Material.hh" +#include "gz/sim/components/Model.hh" +#include "gz/sim/components/Name.hh" +#include "gz/sim/components/Visual.hh" +#include "gz/sim/components/World.hh" + +#include "../helpers/Relay.hh" +#include "../helpers/EnvTestFixture.hh" + +using namespace gz; +using namespace sim; + +class MaterialTest : public InternalFixture<::testing::Test> +{ + public: ::testing::AssertionResult StartServer( + const gz::sim::ServerConfig &_serverConfig = + gz::sim::ServerConfig()) + { + this->relay = std::make_unique(); + this->server = std::make_unique(_serverConfig); + using namespace std::chrono_literals; + this->server->SetUpdatePeriod(0ns); + + EXPECT_FALSE(this->server->Running()); + EXPECT_FALSE(*this->server->Running(0)); + // A pointer to the ecm. This will be valid once we run the mock system + relay->OnPreUpdate( + [this](const UpdateInfo &, EntityComponentManager &_ecm) + { + this->ecm = &_ecm; + }); + + this->server->AddSystem(this->relay->systemPtr); + this->server->Run(true, 1, false); + if (nullptr == this->ecm) + { + return ::testing::AssertionFailure() + << "Failed to create EntityComponentManager"; + } + + this->creator = + std::make_unique(*this->ecm, this->dummyEventMgr); + return ::testing::AssertionSuccess(); + } + + public: void SpawnModelSDF(const std::string &_sdfString) + { + ASSERT_NE(this->server, nullptr); + ASSERT_NE(this->creator, nullptr); + + sdf::Root root; + sdf::Errors errors = root.LoadSdfString(_sdfString); + EXPECT_TRUE(errors.empty()); + ASSERT_NE(nullptr, root.Model()); + + Entity modelEntity = this->creator->CreateEntities(root.Model()); + Entity worldEntity = this->ecm->EntityByComponents(components::World()); + this->creator->SetParent(modelEntity, worldEntity); + } + + public: Model GetModel(const std::string &_name) + { + return Model(this->ecm->EntityByComponents( + components::Model(), components::Name(_name))); + } + + public: std::unique_ptr relay; + public: std::unique_ptr server; + public: EntityComponentManager *ecm {nullptr}; + public: EventManager dummyEventMgr; + public: std::unique_ptr creator; +}; + +// Check for blue color parsed +TEST_F(MaterialTest, SolidColor) +{ + const std::string modelSdf = R"sdf( + + + 0 0 0.5 0 0 0 + + 0 -1.5 0 0 0 0 + + + + 1 1 1 + + + + + + + + + + )sdf"; + + ASSERT_TRUE(this->StartServer()); + this->SpawnModelSDF(modelSdf); + + auto model = this->GetModel("material_shapes"); + ASSERT_TRUE(model.Valid(*this->ecm)); + + auto boxVisualEntity = + this->ecm->EntityByComponents(components::Name("box_visual")); + ASSERT_NE(kNullEntity, boxVisualEntity); + + auto boxVisualComp = + this->ecm->Component(boxVisualEntity); + EXPECT_EQ(math::Color(0.0f, 0.0f, 1.0f, 1.0f), + boxVisualComp->Data().Ambient()); + EXPECT_EQ(math::Color(0.0f, 0.0f, 1.0f, 1.0f), + boxVisualComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.1f, 0.1f, 0.1f, 1.0f), + boxVisualComp->Data().Specular()); +} + +// Other than solid colors parsed black by default +TEST_F(MaterialTest, OtherColor) +{ + const std::string modelSdf = R"sdf( + + + 0 0 0.5 0 0 0 + + 0 -1.5 0 0 0 0 + + + + 1 1 1 + + + + + + + + + + )sdf"; + + ASSERT_TRUE(this->StartServer()); + this->SpawnModelSDF(modelSdf); + + auto model = this->GetModel("material_shapes"); + ASSERT_TRUE(model.Valid(*this->ecm)); + + auto boxVisualEntity = + this->ecm->EntityByComponents(components::Name("box_visual")); + ASSERT_NE(kNullEntity, boxVisualEntity); + + // Default to black color + auto boxVisualComp = + this->ecm->Component(boxVisualEntity); + EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f), + boxVisualComp->Data().Ambient()); + EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f), + boxVisualComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f), + boxVisualComp->Data().Specular()); +} + +// Warning for custom scripts not supported, default to black +TEST_F(MaterialTest, CustomScript) +{ + const std::string modelSdf = R"sdf( + + + 0 0 0.5 0 0 0 + + 0 -1.5 0 0 0 0 + + + + 1 1 1 + + + + + + + + + + )sdf"; + + ASSERT_TRUE(this->StartServer()); + this->SpawnModelSDF(modelSdf); + + auto model = this->GetModel("material_shapes"); + ASSERT_TRUE(model.Valid(*this->ecm)); + + auto boxVisualEntity = + this->ecm->EntityByComponents(components::Name("box_visual")); + ASSERT_NE(kNullEntity, boxVisualEntity); + + // Default to black color + auto boxVisualComp = + this->ecm->Component(boxVisualEntity); + EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f), + boxVisualComp->Data().Ambient()); + EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f), + boxVisualComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f), + boxVisualComp->Data().Specular()); +} + +// Warning for invalid name, default to black +TEST_F(MaterialTest, InvalidColor) +{ + const std::string modelSdf = R"sdf( + + + 0 0 0.5 0 0 0 + + 0 -1.5 0 0 0 0 + + + + 1 1 1 + + + + + + + + + + )sdf"; + + ASSERT_TRUE(this->StartServer()); + this->SpawnModelSDF(modelSdf); + + auto model = this->GetModel("material_shapes"); + ASSERT_TRUE(model.Valid(*this->ecm)); + + auto boxVisualEntity = + this->ecm->EntityByComponents(components::Name("box_visual")); + ASSERT_NE(kNullEntity, boxVisualEntity); + + // Default to black color + auto boxVisualComp = + this->ecm->Component(boxVisualEntity); + EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f), + boxVisualComp->Data().Ambient()); + EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f), + boxVisualComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f), + boxVisualComp->Data().Specular()); +} diff --git a/test/integration/mesh_inertia_calculation.cc b/test/integration/mesh_inertia_calculation.cc index 03653eb6d4..2f67a7ece6 100644 --- a/test/integration/mesh_inertia_calculation.cc +++ b/test/integration/mesh_inertia_calculation.cc @@ -54,8 +54,6 @@ TEST(MeshInertiaCalculationTest, CylinderColladaMeshInertiaCalculation) { size_t kIter = 100u; - gz::math::Pose3d linkPose(4, 4, 1, 0, 0, 0); - gz::math::Inertiald linkInertial; // Start server and run. gz::sim::ServerConfig serverConfig; serverConfig.SetSdfFile(common::joinPaths( @@ -127,3 +125,85 @@ TEST(MeshInertiaCalculationTest, CylinderColladaMeshInertiaCalculation) EXPECT_EQ(link.WorldPose(*ecm).value(), gz::math::Pose3d::Zero); EXPECT_EQ(link.WorldInertialPose(*ecm).value(), gz::math::Pose3d::Zero); } + +TEST(MeshInertiaCalculationTest, + CylinderColladaMeshWithNonCenterOriginInertiaCalculation) +{ + size_t kIter = 100u; + + // Start server and run. + gz::sim::ServerConfig serverConfig; + serverConfig.SetSdfFile(common::joinPaths( + PROJECT_SOURCE_PATH, "test", "worlds", "mesh_inertia_calculation.sdf")); + + common::setenv( + "GZ_SIM_RESOURCE_PATH", + common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds", "models")); + + gz::sim::Server server(serverConfig); + + // Create a system just to get the ECM + EntityComponentManager *ecm; + test::Relay testSystem; + testSystem.OnPreUpdate( + [&](const UpdateInfo &, EntityComponentManager &_ecm) + { + ecm = &_ecm; + } + ); + server.AddSystem(testSystem.systemPtr); + + ASSERT_FALSE(server.Running()); + ASSERT_FALSE(*server.Running(0)); + ASSERT_TRUE(server.Run(true, kIter, false)); + ASSERT_NE(nullptr, ecm); + + // Get link of collada cylinder + gz::sim::Entity modelEntity = ecm->EntityByComponents( + gz::sim::components::Name("cylinder_dae_bottom_origin"), + gz::sim::components::Model() + ); + + gz::sim::Model model = gz::sim::Model(modelEntity); + ASSERT_TRUE(model.Valid(*ecm)); + + gz::sim::Entity linkEntity = model.LinkByName(*ecm, + "cylinder_dae_bottom_origin"); + gz::sim::Link link = gz::sim::Link(linkEntity); + ASSERT_TRUE(link.Valid(*ecm)); + + // Enable checks for pose values + link.EnableVelocityChecks(*ecm); + + ASSERT_NE(link.WorldInertiaMatrix(*ecm), std::nullopt); + ASSERT_NE(link.WorldInertialPose(*ecm), std::nullopt); + ASSERT_NE(link.WorldPose(*ecm), std::nullopt); + + // The cylinder has a radius of 1m, length of 2m, and density of 1240 kg/mΒ³. + // Volume: Ο€rΒ²h = 2Ο€ β‰ˆ 6.283 + // Mass: ρV = (1240.0) * 2Ο€ β‰ˆ 7791.1497 + // Ix = Iy : 1/12 * m(3rΒ² + hΒ²) = m/12 * (3 + 4) β‰ˆ 4544.83 + // Iz : Β½mrΒ² β‰ˆ 3895.57 + gz::math::Inertiald meshInertial; + meshInertial.SetMassMatrix(gz::math::MassMatrix3d( + 7791.1497, + gz::math::Vector3d(4544.83, 4544.83, 3895.57), + gz::math::Vector3d::Zero + )); + meshInertial.SetPose(gz::math::Pose3d::Zero); + gz::math::Matrix3 inertiaMatrix = meshInertial.Moi(); + + // Check the Inertia Matrix within a tolerance of 0.005 since we are + // comparing a mesh cylinder with an ideal cylinder. For values more closer + // to the ideal, a higher number of vertices would be required in mesh + EXPECT_TRUE( + link.WorldInertiaMatrix(*ecm).value().Equal(inertiaMatrix, 0.005)); + + // Check the Inertial Pose and Link Pose + EXPECT_EQ(link.WorldPose(*ecm).value(), gz::math::Pose3d::Zero); + + // Since the height of cylinder is 2m and origin is at center of bottom face + // the center of mass (inertial pose) will be 1m above the ground + EXPECT_EQ(link.WorldInertialPose(*ecm).value(), + gz::math::Pose3d(0, 0, 1, 0, 0, 0)); +} diff --git a/test/integration/user_commands.cc b/test/integration/user_commands.cc index a6e3f2f340..f506ff0971 100644 --- a/test/integration/user_commands.cc +++ b/test/integration/user_commands.cc @@ -15,12 +15,15 @@ * */ +#include + #include #include #include #include #include +#include #include #include #include @@ -1030,11 +1033,12 @@ TEST_F(UserCommandsTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light)) const std::string lightTopic = "/world/lights_command/light_config"; msgs::Light lightMsg; - lightMsg.set_name("spot"); gz::msgs::Set(lightMsg.mutable_diffuse(), gz::math::Color(1.0f, 1.0f, 1.0f, 1.0f)); + gz::msgs::Set(lightMsg.mutable_pose()->mutable_position(), + gz::math::Vector3d(1.0f, 0.0f, 0.0f)); - // Publish light config + // Publish light config without name auto pub = node.Advertise(lightTopic); pub.Publish(lightMsg); @@ -1042,10 +1046,443 @@ TEST_F(UserCommandsTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light)) // Sleep for a small duration to allow Run thread to start GZ_SLEEP_MS(10); + // add name + lightMsg.set_name("spot"); + + // Publish light config + pub.Publish(lightMsg); + + server.Run(true, 100, false); + // Sleep for a small duration to allow Run thread to start + GZ_SLEEP_MS(10); + EXPECT_EQ(math::Color(1.0f, 1.0f, 1.0f, 1.0f), spotLightComp->Data().Diffuse()); } +///////////////////////////////////////////////// +TEST_F(UserCommandsTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(LightAll)) +{ + // Start server + ServerConfig serverConfig; + const auto sdfFile = gz::common::joinPaths( + std::string(PROJECT_SOURCE_PATH), "test", "worlds", + "lights_render_all.sdf"); + serverConfig.SetSdfFile(sdfFile); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + // Create a system just to get the ECM + EntityComponentManager *ecm{nullptr}; + test::Relay testSystem; + testSystem.OnPreUpdate([&](const sim::UpdateInfo &, + sim::EntityComponentManager &_ecm) + { + ecm = &_ecm; + }); + + server.AddSystem(testSystem.systemPtr); + + // Run server and check we have the ECM + EXPECT_EQ(nullptr, ecm); + server.Run(true, 1, false); + EXPECT_NE(nullptr, ecm); + + msgs::Light req; + msgs::Boolean res; + transport::Node node; + bool result; + unsigned int timeout = 1000; + std::string service{"/world/lights_command/light_config"}; + + // Point light + auto pointLightEntity = ecm->EntityByComponents(components::Name("point")); + EXPECT_NE(kNullEntity, pointLightEntity); + + // Check point light entity has not been edited yet - Initial values + auto pointLightComp = ecm->Component(pointLightEntity); + ASSERT_NE(nullptr, pointLightComp); + EXPECT_EQ( + math::Pose3d(0, -1.5, 3, 0, 0, 0), pointLightComp->Data().RawPose()); + EXPECT_EQ(math::Color(1.0f, 0.0f, 0.0f, 1.0f), + pointLightComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.1f, 0.1f, 0.1f, 1.0f), + pointLightComp->Data().Specular()); + EXPECT_NEAR(4.0, pointLightComp->Data().AttenuationRange(), 0.1); + EXPECT_NEAR(0.5, pointLightComp->Data().LinearAttenuationFactor(), 0.1); + EXPECT_NEAR(0.2, pointLightComp->Data().ConstantAttenuationFactor(), 0.1); + EXPECT_NEAR(0.01, pointLightComp->Data().QuadraticAttenuationFactor(), 0.1); + EXPECT_FALSE(pointLightComp->Data().CastShadows()); + EXPECT_TRUE(pointLightComp->Data().LightOn()); + EXPECT_TRUE(pointLightComp->Data().Visualize()); + + req.Clear(); + gz::msgs::Set(req.mutable_diffuse(), + gz::math::Color(0.0f, 1.0f, 1.0f, 0.0f)); + gz::msgs::Set(req.mutable_specular(), + gz::math::Color(0.2f, 0.2f, 0.2f, 0.2f)); + req.set_range(2.6f); + req.set_name("point"); + req.set_type(gz::msgs::Light::POINT); + req.set_attenuation_linear(0.7f); + req.set_attenuation_constant(0.6f); + req.set_attenuation_quadratic(0.001f); + req.set_cast_shadows(true); + req.set_is_light_off(false); + req.set_visualize_visual(false); + + EXPECT_TRUE(node.Request(service, req, timeout, res, result)); + EXPECT_TRUE(result); + EXPECT_TRUE(res.data()); + + server.Run(true, 100, false); + // Sleep for a small duration to allow Run thread to start + GZ_SLEEP_MS(10); + + // Check point light entity has been edited using the service + pointLightComp = ecm->Component(pointLightEntity); + ASSERT_NE(nullptr, pointLightComp); + + EXPECT_EQ(math::Color(0.0f, 1.0f, 1.0f, 0.0f), + pointLightComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.2f, 0.2f, 0.2f, 0.2f), + pointLightComp->Data().Specular()); + EXPECT_NEAR(2.6, pointLightComp->Data().AttenuationRange(), 0.1); + EXPECT_NEAR(0.7, pointLightComp->Data().LinearAttenuationFactor(), 0.1); + EXPECT_NEAR(0.6, pointLightComp->Data().ConstantAttenuationFactor(), 0.1); + EXPECT_NEAR(0.001, pointLightComp->Data().QuadraticAttenuationFactor(), 0.1); + EXPECT_TRUE(pointLightComp->Data().CastShadows()); + EXPECT_TRUE(pointLightComp->Data().LightOn()); + EXPECT_FALSE(pointLightComp->Data().Visualize()); + EXPECT_EQ(sdf::LightType::POINT, pointLightComp->Data().Type()); + + // Check directional light entity has not been edited yet - Initial values + auto directionalLightEntity = ecm->EntityByComponents( + components::Name("directional")); + EXPECT_NE(kNullEntity, directionalLightEntity); + + auto directionalLightComp = + ecm->Component(directionalLightEntity); + ASSERT_NE(nullptr, directionalLightComp); + + EXPECT_EQ( + math::Pose3d(0, 0, 10, 0, 0, 0), directionalLightComp->Data().RawPose()); + EXPECT_EQ(math::Color(0.8f, 0.8f, 0.8f, 1.0f), + directionalLightComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.2f, 0.2f, 0.2f, 1.0f), + directionalLightComp->Data().Specular()); + EXPECT_NEAR(100, directionalLightComp->Data().AttenuationRange(), 0.1); + EXPECT_NEAR( + 0.01, directionalLightComp->Data().LinearAttenuationFactor(), 0.01); + EXPECT_NEAR( + 0.9, directionalLightComp->Data().ConstantAttenuationFactor(), 0.1); + EXPECT_NEAR( + 0.001, directionalLightComp->Data().QuadraticAttenuationFactor(), 0.001); + EXPECT_EQ( + math::Vector3d(0.5, 0.2, -0.9), directionalLightComp->Data().Direction()); + EXPECT_TRUE(directionalLightComp->Data().CastShadows()); + EXPECT_TRUE(directionalLightComp->Data().LightOn()); + EXPECT_TRUE(directionalLightComp->Data().Visualize()); + EXPECT_EQ(sdf::LightType::POINT, pointLightComp->Data().Type()); + + req.Clear(); + gz::msgs::Set(req.mutable_diffuse(), + gz::math::Color(0.0f, 1.0f, 1.0f, 0.0f)); + gz::msgs::Set(req.mutable_specular(), + gz::math::Color(0.3f, 0.3f, 0.3f, 0.3f)); + req.set_range(2.6f); + req.set_name("directional"); + req.set_type(gz::msgs::Light::DIRECTIONAL); + req.set_attenuation_linear(0.7f); + req.set_attenuation_constant(0.6f); + req.set_attenuation_quadratic(1.0f); + req.set_cast_shadows(false); + req.set_is_light_off(false); + req.set_visualize_visual(false); + gz::msgs::Set(req.mutable_direction(), + gz::math::Vector3d(1, 2, 3)); + EXPECT_TRUE(node.Request(service, req, timeout, res, result)); + EXPECT_TRUE(result); + EXPECT_TRUE(res.data()); + + server.Run(true, 100, false); + // Sleep for a small duration to allow Run thread to start + GZ_SLEEP_MS(10); + + // Check directional light entity has been edited using the service + directionalLightComp = + ecm->Component(directionalLightEntity); + ASSERT_NE(nullptr, directionalLightComp); + + EXPECT_EQ(math::Color(0.0f, 1.0f, 1.0f, 0.0f), + directionalLightComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.3f, 0.3f, 0.3f, 0.3f), + directionalLightComp->Data().Specular()); + EXPECT_NEAR(2.6, directionalLightComp->Data().AttenuationRange(), 0.1); + EXPECT_NEAR( + 0.7, directionalLightComp->Data().LinearAttenuationFactor(), 0.1); + EXPECT_NEAR( + 0.6, directionalLightComp->Data().ConstantAttenuationFactor(), 0.1); + EXPECT_NEAR( + 1, directionalLightComp->Data().QuadraticAttenuationFactor(), 0.1); + EXPECT_EQ(math::Vector3d(1, 2, 3), directionalLightComp->Data().Direction()); + EXPECT_FALSE(directionalLightComp->Data().CastShadows()); + EXPECT_TRUE(directionalLightComp->Data().LightOn()); + EXPECT_FALSE(directionalLightComp->Data().Visualize()); + EXPECT_EQ(sdf::LightType::DIRECTIONAL, + directionalLightComp->Data().Type()); + + // spot light + auto spotLightEntity = ecm->EntityByComponents( + components::Name("spot")); + EXPECT_NE(kNullEntity, spotLightEntity); + + // Check spot light entity has not been edited yet - Initial values + auto spotLightComp = + ecm->Component(spotLightEntity); + ASSERT_NE(nullptr, spotLightComp); + + EXPECT_EQ(math::Pose3d(0, 1.5, 3, 0, 0, 0), spotLightComp->Data().RawPose()); + EXPECT_EQ(math::Color(0.0f, 1.0f, 0.0f, 1.0f), + spotLightComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.2f, 0.2f, 0.2f, 1.0f), + spotLightComp->Data().Specular()); + EXPECT_NEAR(5, spotLightComp->Data().AttenuationRange(), 0.1); + EXPECT_NEAR(0.4, spotLightComp->Data().LinearAttenuationFactor(), 0.01); + EXPECT_NEAR(0.3, spotLightComp->Data().ConstantAttenuationFactor(), 0.1); + EXPECT_NEAR( + 0.001, spotLightComp->Data().QuadraticAttenuationFactor(), 0.001); + EXPECT_EQ(math::Vector3d(0, 0, -1), spotLightComp->Data().Direction()); + EXPECT_FALSE(spotLightComp->Data().CastShadows()); + EXPECT_TRUE(spotLightComp->Data().Visualize()); + EXPECT_EQ(sdf::LightType::SPOT, spotLightComp->Data().Type()); + EXPECT_NEAR(0.1, spotLightComp->Data().SpotInnerAngle().Radian(), 0.1); + EXPECT_NEAR(0.5, spotLightComp->Data().SpotOuterAngle().Radian(), 0.1); + EXPECT_NEAR(0.8, spotLightComp->Data().SpotFalloff(), 0.1); + + req.Clear(); + gz::msgs::Set(req.mutable_diffuse(), + gz::math::Color(1.0f, 0.0f, 1.0f, 0.0f)); + gz::msgs::Set(req.mutable_specular(), + gz::math::Color(0.3f, 0.3f, 0.3f, 0.3f)); + req.set_range(2.6f); + req.set_name("spot"); + req.set_type(gz::msgs::Light::SPOT); + req.set_attenuation_linear(0.7f); + req.set_attenuation_constant(0.6f); + req.set_attenuation_quadratic(1.0f); + req.set_cast_shadows(true); + req.set_is_light_off(true); + req.set_visualize_visual(true); + gz::msgs::Set(req.mutable_direction(), + gz::math::Vector3d(1, 2, 3)); + req.set_spot_inner_angle(1.5f); + req.set_spot_outer_angle(0.3f); + req.set_spot_falloff(0.9f); + + EXPECT_TRUE(node.Request(service, req, timeout, res, result)); + EXPECT_TRUE(result); + EXPECT_TRUE(res.data()); + + server.Run(true, 100, false); + // Sleep for a small duration to allow Run thread to start + GZ_SLEEP_MS(10); + + // Check spot light entity has been edited using the service + spotLightComp = ecm->Component(spotLightEntity); + ASSERT_NE(nullptr, spotLightComp); + + EXPECT_EQ(math::Color(1.0f, 0.0f, 1.0f, 0.0f), + spotLightComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.3f, 0.3f, 0.3f, 0.3f), + spotLightComp->Data().Specular()); + EXPECT_NEAR(2.6, spotLightComp->Data().AttenuationRange(), 0.1); + EXPECT_NEAR(0.7, spotLightComp->Data().LinearAttenuationFactor(), 0.1); + EXPECT_NEAR(0.6, spotLightComp->Data().ConstantAttenuationFactor(), 0.1); + EXPECT_NEAR(1, spotLightComp->Data().QuadraticAttenuationFactor(), 0.1); + EXPECT_EQ(math::Vector3d(1, 2, 3), spotLightComp->Data().Direction()); + EXPECT_TRUE(spotLightComp->Data().CastShadows()); + EXPECT_FALSE(spotLightComp->Data().LightOn()); + EXPECT_TRUE(spotLightComp->Data().Visualize()); + EXPECT_EQ(sdf::LightType::SPOT, spotLightComp->Data().Type()); + EXPECT_NEAR(1.5, spotLightComp->Data().SpotInnerAngle().Radian(), 0.1); + EXPECT_NEAR(0.3, spotLightComp->Data().SpotOuterAngle().Radian(), 0.1); + EXPECT_NEAR(0.9, spotLightComp->Data().SpotFalloff(), 0.1); + + // sphere + auto sphereLightEntity = + ecm->EntityByComponents(components::Name("sphere_light")); + ASSERT_NE(kNullEntity, sphereLightEntity); + + // check sphere light initial values + auto sphereLightComp = + ecm->Component(sphereLightEntity); + ASSERT_NE(nullptr, sphereLightComp); + EXPECT_EQ(math::Color(1.0f, 1.0f, 1.0f, 1.0f), + sphereLightComp->Data().Diffuse()); + + // Test light_config topic + const std::string lightTopic = "/world/lights_command/light_config"; + + msgs::Light lightMsg; + gz::msgs::Set(lightMsg.mutable_diffuse(), + gz::math::Color(1.0f, 0.0f, 0.0f, 1.0f)); + gz::msgs::Set(lightMsg.mutable_pose()->mutable_position(), + gz::math::Vector3d(1.0f, 0.0f, 0.0f)); + + // Publish light config without name + auto pub = node.Advertise(lightTopic); + pub.Publish(lightMsg); + + server.Run(true, 100, false); + // Sleep for a small duration to allow Run thread to start + GZ_SLEEP_MS(10); + + // add name + lightMsg.set_name("sphere_light"); + + // Publish light config + pub.Publish(lightMsg); + + server.Run(true, 100, false); + // Sleep for a small duration to allow Run thread to start + GZ_SLEEP_MS(10); + + Entity sphereEntity0 = + ecm->EntityByComponents(components::Name("sphere_0")); + Entity sphereEntity1 = + ecm->EntityByComponents(components::Name("sphere_1")); + auto sphereLinkEntity0 = + ecm->ChildrenByComponents(sphereEntity0, + components::Name("sphere_link_0"))[0]; + auto sphereLinkEntity1 = + ecm->ChildrenByComponents(sphereEntity1, + components::Name("sphere_link_1"))[0]; + auto sphereLightEntity0 = + ecm->ChildrenByComponents(sphereLinkEntity0, + components::Name("sphere_light"))[0]; + auto sphereLightEntity1 = + ecm->ChildrenByComponents(sphereLinkEntity1, + components::Name("sphere_light"))[0]; + auto updatedLight0 = + ecm->Component(sphereLightEntity0); + auto updatedLight1 = + ecm->Component(sphereLightEntity1); + + EXPECT_EQ(math::Color(1.0f, 0.0f, 0.0f, 1.0f), + updatedLight0->Data().Diffuse()); + EXPECT_EQ(math::Color(1.0f, 0.0f, 0.0f, 1.0f), + updatedLight1->Data().Diffuse()); +} + +///////////////////////////////////////////////// +TEST_F(UserCommandsTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(MaterialColor)) +{ + // Start server + ServerConfig serverConfig; + const auto sdfFile = gz::common::joinPaths( + std::string(PROJECT_SOURCE_PATH), "test", "worlds", "material_color.sdf"); + serverConfig.SetSdfFile(sdfFile); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + // Create a system just to get the ECM + EntityComponentManager *ecm{nullptr}; + test::Relay testSystem; + testSystem.OnPreUpdate([&](const sim::UpdateInfo &, + sim::EntityComponentManager &_ecm) + { + ecm = &_ecm; + }); + + server.AddSystem(testSystem.systemPtr); + + // Run server and check we have the ECM + EXPECT_EQ(nullptr, ecm); + server.Run(true, 1, false); + EXPECT_NE(nullptr, ecm); + + transport::Node node; + + // box + auto sphereVisualEntity = + ecm->EntityByComponents(components::Name("sphere_visual")); + ASSERT_NE(kNullEntity, sphereVisualEntity); + + // check box visual's initial values + auto sphereVisualComp = + ecm->Component(sphereVisualEntity); + ASSERT_NE(nullptr, sphereVisualComp); + EXPECT_EQ(math::Color(0.3f, 0.3f, 0.3f, 1.0f), + sphereVisualComp->Data().Diffuse()); + + // Test material_color topic + const std::string materialColorTopic = + "/world/material_color/material_color"; + + // Test first return logic (no direct compare as returns unordered set) + msgs::MaterialColor materialColorMsgFirst; + materialColorMsgFirst.mutable_entity()->set_name("sphere_visual"); + materialColorMsgFirst.set_entity_match( + gz::msgs::MaterialColor::EntityMatch::MaterialColor_EntityMatch_FIRST); + gz::msgs::Set(materialColorMsgFirst.mutable_diffuse(), + gz::math::Color(0.0f, 0.0f, 0.0f, 1.0f)); + + // Publish material color + auto pub = node.Advertise(materialColorTopic); + pub.Publish(materialColorMsgFirst); + server.Run(true, 100, false); + // Sleep for a small duration to allow Run thread to start + GZ_SLEEP_MS(100); + + msgs::MaterialColor materialColorMsg; + materialColorMsg.mutable_entity()->set_name("sphere_visual"); + materialColorMsg.set_entity_match( + gz::msgs::MaterialColor::EntityMatch::MaterialColor_EntityMatch_ALL); + gz::msgs::Set(materialColorMsg.mutable_diffuse(), + gz::math::Color(1.0f, 1.0f, 1.0f, 1.0f)); + + Entity sphereEntity0 = + ecm->EntityByComponents(components::Name("sphere_0")); + Entity sphereEntity1 = + ecm->EntityByComponents(components::Name("sphere_1")); + auto sphereLinkEntity0 = + ecm->ChildrenByComponents(sphereEntity0, + components::Name("sphere_link_0"))[0]; + auto sphereLinkEntity1 = + ecm->ChildrenByComponents(sphereEntity1, + components::Name("sphere_link_1"))[0]; + auto sphereVisualEntity0 = + ecm->ChildrenByComponents(sphereLinkEntity0, + components::Name("sphere_visual"))[0]; + auto sphereVisualEntity1 = + ecm->ChildrenByComponents(sphereLinkEntity1, + components::Name("sphere_visual"))[0]; + auto updatedVisual0 = + ecm->Component(sphereVisualEntity0); + auto updatedVisual1 = + ecm->Component(sphereVisualEntity1); + EXPECT_TRUE((math::Color(0.0f, 0.0f, 0.0f, 1.0f) == + updatedVisual0->Data().Diffuse()) || + (math::Color(0.0f, 0.0f, 0.0f, 1.0f) == + updatedVisual1->Data().Diffuse())); + + // Publish material color + pub.Publish(materialColorMsg); + server.Run(true, 100, false); + // Sleep for a small duration to allow Run thread to start + GZ_SLEEP_MS(100); + + EXPECT_EQ(math::Color(1.0f, 1.0f, 1.0f, 1.0f), + updatedVisual0->Data().Diffuse()); + EXPECT_EQ(math::Color(1.0f, 1.0f, 1.0f, 1.0f), + updatedVisual1->Data().Diffuse()); +} + ///////////////////////////////////////////////// TEST_F(UserCommandsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Physics)) { diff --git a/test/worlds/lights_render_all.sdf b/test/worlds/lights_render_all.sdf new file mode 100644 index 0000000000..e2a9bea226 --- /dev/null +++ b/test/worlds/lights_render_all.sdf @@ -0,0 +1,149 @@ + + + + + 0.001 + 0 + + + + + true + + + ogre2 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 100 + 0.9 + 0.01 + 0.001 + + 0.5 0.2 -0.9 + + + + 0 -1.5 3 0 0 0 + 1 0 0 1 + .1 .1 .1 1 + + 4 + 0.2 + 0.5 + 0.01 + + false + + + + 0 1.5 3 0 0 0 + 0 1 0 1 + .2 .2 .2 1 + + 5 + 0.3 + 0.4 + 0.001 + + 0 0 -1 + + 0.1 + 0.5 + 0.8 + + false + + + + 0 0.0 0.0 0 0 0 + + + + 1 0 1.3 0 0 0 + + 1.047 + + 320 + 240 + + + 0.1 + 100 + + + 1 + 30 + false + camera + + + + + 0.5 + + + + 0.3 0.3 0.3 1 + 0.3 0.3 0.3 1 + 0.3 0.3 0.3 1 + + + + 0 0 1.0 0 0 0 + false + 1 + 1.0 1.0 1.0 1.0 + 1.0 1.0 1.0 1.0 + 0 0 -1 + 1.0 + + 2.1 + 2.1 + + + + + + 0.5 1.0 0.0 0 0 0 + + + + + 0.5 + + + + 0.3 0.3 0.3 1 + 0.3 0.3 0.3 1 + 0.3 0.3 0.3 1 + + + + 0 0 1.0 0 0 0 + false + 1 + 1.0 1.0 1.0 1.0 + 1.0 1.0 1.0 1.0 + 0 0 -1 + 1.0 + + 2.1 + 2.1 + + + + + + diff --git a/test/worlds/material_color.sdf b/test/worlds/material_color.sdf new file mode 100644 index 0000000000..5458071dbd --- /dev/null +++ b/test/worlds/material_color.sdf @@ -0,0 +1,76 @@ + + + + + 0.001 + 0 + + + + + + + ogre2 + + + + 0 0.0 0.0 0 0 0 + + + + 1 0 1.3 0 0 0 + + 1.047 + + 320 + 240 + + + 0.1 + 100 + + + 1 + 30 + false + camera + + + + + 0.5 + + + + 0.3 0.3 0.3 1 + 0.3 0.3 0.3 1 + 0.3 0.3 0.3 1 + + + + + + 0.5 1.0 0.0 0 0 0 + + + + + 0.5 + + + + 0.3 0.3 0.3 1 + 0.3 0.3 0.3 1 + 0.3 0.3 0.3 1 + + + + + + diff --git a/test/worlds/mesh_inertia_calculation.sdf b/test/worlds/mesh_inertia_calculation.sdf index 4b2a7ffdbd..c272c26519 100644 --- a/test/worlds/mesh_inertia_calculation.sdf +++ b/test/worlds/mesh_inertia_calculation.sdf @@ -12,5 +12,11 @@ cylinder_dae 0 0 0 0 0 0 + + + cylinder_dae_bottom_origin + cylinder_dae_bottom_origin + 4 0 0 0 0 0 + diff --git a/test/worlds/model_photo_shoot_random_joints.sdf b/test/worlds/model_photo_shoot_random_joints.sdf index 11a38b73df..0672f0086a 100644 --- a/test/worlds/model_photo_shoot_random_joints.sdf +++ b/test/worlds/model_photo_shoot_random_joints.sdf @@ -17,7 +17,7 @@ filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors"> ogre2 - 1, 1, 1 + 1.0 1.0 1.0 https://fuel.gazebosim.org/1.0/OpenRobotics/models/Robonaut diff --git a/test/worlds/models/cylinder_dae_bottom_origin/meshes/cylinder_bottom_origin.dae b/test/worlds/models/cylinder_dae_bottom_origin/meshes/cylinder_bottom_origin.dae new file mode 100644 index 0000000000..bd3a17db98 --- /dev/null +++ b/test/worlds/models/cylinder_dae_bottom_origin/meshes/cylinder_bottom_origin.dae @@ -0,0 +1,69 @@ + + + + + Blender User + Blender 3.4.1 commit date:2022-12-19, commit time:17:00, hash:55485cb379f7 + + 2023-08-31T01:12:49 + 2023-08-31T01:12:49 + + Z_UP + + + + + + + 0 1 0 0 1 2 0.001533865 0.9999988 0 0.001533865 0.9999988 2 0.003067851 0.9999953 0 0.003067851 0.9999953 2 0.004601836 0.9999894 0 0.004601836 0.9999894 2 0.006135821 0.9999812 0 0.006135821 0.9999812 2 0.007669806 0.9999706 0 0.007669806 0.9999706 2 0.009203732 0.9999576 0 0.009203732 0.9999576 2 0.01073759 0.9999424 0 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0.9990107 0 0.04447066 0.9990107 2 0.04600316 0.9989413 0 0.04600316 0.9989413 2 0.04753541 0.9988695 0 0.04753541 0.9988695 2 0.04906761 0.9987955 0 0.04906761 0.9987955 2 0.05059975 0.998719 0 0.05059975 0.998719 2 0.05213171 0.9986402 0 0.05213171 0.9986402 2 0.05366349 0.9985591 0 0.05366349 0.9985591 2 0.05519521 0.9984756 0 0.05519521 0.9984756 2 0.05672681 0.9983897 0 0.05672681 0.9983897 2 0.05825817 0.9983016 0 0.05825817 0.9983016 2 0.05978947 0.998211 0 0.05978947 0.998211 2 0.06132072 0.9981181 0 0.06132072 0.9981181 2 0.06285172 0.9980229 0 0.06285172 0.9980229 2 0.06438261 0.9979254 0 0.06438261 0.9979254 2 0.06591331 0.9978253 0 0.06591331 0.9978253 2 0.0674439 0.9977231 0 0.0674439 0.9977231 2 0.06897431 0.9976184 0 0.06897431 0.9976184 2 0.07050454 0.9975115 0 0.07050454 0.9975115 2 0.07203465 0.9974021 0 0.07203465 0.9974021 2 0.07356452 0.9972904 0 0.07356452 0.9972904 2 0.07509428 0.9971764 0 0.07509428 0.9971764 2 0.07662385 0.9970601 0 0.07662385 0.9970601 2 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0.9937368 0 0.1117467 0.9937368 2 0.1132709 0.9935641 0 0.1132709 0.9935641 2 0.1147949 0.9933892 0 0.1147949 0.9933892 2 0.1163186 0.9932119 0 0.1163186 0.9932119 2 0.117842 0.9930323 0 0.117842 0.9930323 2 0.1193652 0.9928504 0 0.1193652 0.9928504 2 0.1208881 0.9926661 0 0.1208881 0.9926661 2 0.1224107 0.9924796 0 0.1224107 0.9924796 2 0.123933 0.9922906 0 0.123933 0.9922906 2 0.125455 0.9920993 0 0.125455 0.9920993 2 0.1269767 0.9919057 0 0.1269767 0.9919057 2 0.1284981 0.9917098 0 0.1284981 0.9917098 2 0.1300192 0.9915115 0 0.1300192 0.9915115 2 0.13154 0.9913108 0 0.13154 0.9913108 2 0.1330605 0.991108 0 0.1330605 0.991108 2 0.1345807 0.9909027 0 0.1345807 0.9909027 2 0.1361005 0.990695 0 0.1361005 0.990695 2 0.1376201 0.9904851 0 0.1376201 0.9904851 2 0.1391392 0.9902728 0 0.1391392 0.9902728 2 0.1406581 0.9900582 0 0.1406581 0.9900582 2 0.1421768 0.9898413 0 0.1421768 0.9898413 2 0.1436949 0.989622 0 0.1436949 0.989622 2 0.1452129 0.9894005 0 0.1452129 0.9894005 2 0.1467304 0.9891765 0 0.1467304 0.9891765 2 0.1482477 0.9889503 0 0.1482477 0.9889503 2 0.1497645 0.9887217 0 0.1497645 0.9887217 2 0.1512809 0.9884908 0 0.1512809 0.9884908 2 0.1527972 0.9882576 0 0.1527972 0.9882576 2 0.154313 0.988022 0 0.154313 0.988022 2 0.1558284 0.9877842 0 0.1558284 0.9877842 2 0.1573435 0.987544 0 0.1573435 0.987544 2 0.1588581 0.9873014 0 0.1588581 0.9873014 2 0.1603724 0.9870566 0 0.1603724 0.9870566 2 0.1618863 0.9868094 0 0.1618863 0.9868094 2 0.1633999 0.9865599 0 0.1633999 0.9865599 2 0.1649131 0.9863081 0 0.1649131 0.9863081 2 0.1664259 0.986054 0 0.1664259 0.986054 2 0.1679382 0.9857975 0 0.1679382 0.9857975 2 0.1694503 0.9855387 0 0.1694503 0.9855387 2 0.1709619 0.9852777 0 0.1709619 0.9852777 2 0.1724731 0.9850143 0 0.1724731 0.9850143 2 0.1739838 0.9847485 0 0.1739838 0.9847485 2 0.1754943 0.9844805 0 0.1754943 0.9844805 2 0.1770042 0.9842101 0 0.1770042 0.9842101 2 0.1785138 0.9839375 0 0.1785138 0.9839375 2 0.1800228 0.9836624 0 0.1800228 0.9836624 2 0.1815316 0.9833851 0 0.1815316 0.9833851 2 0.1830399 0.9831055 0 0.1830399 0.9831055 2 0.1845477 0.9828236 0 0.1845477 0.9828236 2 0.1860551 0.9825393 0 0.1860551 0.9825393 2 0.1875621 0.9822527 0 0.1875621 0.9822527 2 0.1890686 0.9819639 0 0.1890686 0.9819639 2 0.1905747 0.9816727 0 0.1905747 0.9816727 2 0.1920804 0.9813792 0 0.1920804 0.9813792 2 0.1935856 0.9810834 0 0.1935856 0.9810834 2 0.1950903 0.9807853 0 0.1950903 0.9807853 2 0.1965945 0.9804849 0 0.1965945 0.9804849 2 0.1980984 0.9801821 0 0.1980984 0.9801821 2 0.1996017 0.9798771 0 0.1996017 0.9798771 2 0.2011046 0.9795698 0 0.2011046 0.9795698 2 0.202607 0.9792602 0 0.202607 0.9792602 2 0.204109 0.9789482 0 0.204109 0.9789482 2 0.2056104 0.9786339 0 0.2056104 0.9786339 2 0.2071114 0.9783174 0 0.2071114 0.9783174 2 0.2086118 0.9779985 0 0.2086118 0.9779985 2 0.2101117 0.9776774 0 0.2101117 0.9776774 2 0.2116113 0.9773539 0 0.2116113 0.9773539 2 0.2131103 0.9770281 0 0.2131103 0.9770281 2 0.2146088 0.9767001 0 0.2146088 0.9767001 2 0.2161068 0.9763697 0 0.2161068 0.9763697 2 0.2176042 0.9760371 0 0.2176042 0.9760371 2 0.2191012 0.9757021 0 0.2191012 0.9757021 2 0.2205977 0.9753649 0 0.2205977 0.9753649 2 0.2220936 0.9750254 0 0.2220936 0.9750254 2 0.223589 0.9746835 0 0.223589 0.9746835 2 0.2250839 0.9743394 0 0.2250839 0.9743394 2 0.2265782 0.973993 0 0.2265782 0.973993 2 0.2280721 0.9736443 0 0.2280721 0.9736443 2 0.2295653 0.9732933 0 0.2295653 0.9732933 2 0.2310581 0.97294 0 0.2310581 0.97294 2 0.2325503 0.9725844 0 0.2325503 0.9725844 2 0.2340419 0.9722265 0 0.2340419 0.9722265 2 0.2355329 0.9718663 0 0.2355329 0.9718663 2 0.2370236 0.9715039 0 0.2370236 0.9715039 2 0.2385136 0.9711391 0 0.2385136 0.9711391 2 0.240003 0.9707722 0 0.240003 0.9707722 2 0.2414919 0.9704028 0 0.2414919 0.9704028 2 0.2429802 0.9700313 0 0.2429802 0.9700313 2 0.2444679 0.9696574 0 0.2444679 0.9696574 2 0.245955 0.9692813 0 0.245955 0.9692813 2 0.2474416 0.9689028 0 0.2474416 0.9689028 2 0.2489276 0.9685221 0 0.2489276 0.9685221 2 0.250413 0.9681391 0 0.250413 0.9681391 2 0.2518978 0.9677538 0 0.2518978 0.9677538 2 0.253382 0.9673663 0 0.253382 0.9673663 2 0.2548657 0.9669765 0 0.2548657 0.9669765 2 0.2563487 0.9665844 0 0.2563487 0.9665844 2 0.2578311 0.96619 0 0.2578311 0.96619 2 0.2593129 0.9657934 0 0.2593129 0.9657934 2 0.2607941 0.9653944 0 0.2607941 0.9653944 2 0.2622747 0.9649932 0 0.2622747 0.9649932 2 0.2637547 0.9645898 0 0.2637547 0.9645898 2 0.2652341 0.9641841 0 0.2652341 0.9641841 2 0.2667128 0.9637761 0 0.2667128 0.9637761 2 0.2681909 0.9633658 0 0.2681909 0.9633658 2 0.2696684 0.9629533 0 0.2696684 0.9629533 2 0.2711452 0.9625385 0 0.2711452 0.9625385 2 0.2726213 0.9621214 0 0.2726213 0.9621214 2 0.2740969 0.9617021 0 0.2740969 0.9617021 2 0.2755718 0.9612805 0 0.2755718 0.9612805 2 0.2770461 0.9608566 0 0.2770461 0.9608566 2 0.2785197 0.9604305 0 0.2785197 0.9604305 2 0.2799926 0.9600021 0 0.2799926 0.9600021 2 0.2814649 0.9595715 0 0.2814649 0.9595715 2 0.2829366 0.9591386 0 0.2829366 0.9591386 2 0.2844076 0.9587035 0 0.2844076 0.9587035 2 0.2858778 0.9582661 0 0.2858778 0.9582661 2 0.2873475 0.9578264 0 0.2873475 0.9578264 2 0.2888164 0.9573845 0 0.2888164 0.9573845 2 0.2902847 0.9569404 0 0.2902847 0.9569404 2 0.2917523 0.9564939 0 0.2917523 0.9564939 2 0.2932192 0.9560453 0 0.2932192 0.9560453 2 0.2946854 0.9555943 0 0.2946854 0.9555943 2 0.2961509 0.9551412 0 0.2961509 0.9551412 2 0.2976157 0.9546858 0 0.2976157 0.9546858 2 0.2990798 0.9542281 0 0.2990798 0.9542281 2 0.3005433 0.9537682 0 0.3005433 0.9537682 2 0.302006 0.953306 0 0.302006 0.953306 2 0.3034679 0.9528416 0 0.3034679 0.9528416 2 0.3049293 0.952375 0 0.3049293 0.952375 2 0.3063898 0.9519062 0 0.3063898 0.9519062 2 0.3078497 0.951435 0 0.3078497 0.951435 2 0.3093088 0.9509617 0 0.3093088 0.9509617 2 0.3107671 0.9504861 0 0.3107671 0.9504861 2 0.3122248 0.9500082 0 0.3122248 0.9500082 2 0.3136817 0.9495282 0 0.3136817 0.9495282 2 0.3151379 0.9490459 0 0.3151379 0.9490459 2 0.3165934 0.9485614 0 0.3165934 0.9485614 2 0.3180481 0.9480746 0 0.3180481 0.9480746 2 0.319502 0.9475856 0 0.319502 0.9475856 2 0.3209552 0.9470945 0 0.3209552 0.9470945 2 0.3224077 0.9466009 0 0.3224077 0.9466009 2 0.3238593 0.9461053 0 0.3238593 0.9461053 2 0.3253103 0.9456073 0 0.3253103 0.9456073 2 0.3267605 0.9451072 0 0.3267605 0.9451072 2 0.3282098 0.9446048 0 0.3282098 0.9446048 2 0.3296585 0.9441003 0 0.3296585 0.9441003 2 0.3311063 0.9435935 0 0.3311063 0.9435935 2 0.3325534 0.9430844 0 0.3325534 0.9430844 2 0.3339996 0.9425732 0 0.3339996 0.9425732 2 0.3354452 0.9420598 0 0.3354452 0.9420598 2 0.3368899 0.9415441 0 0.3368899 0.9415441 2 0.3383337 0.9410262 0 0.3383337 0.9410262 2 0.3397769 0.9405061 0 0.3397769 0.9405061 2 0.3412192 0.9399837 0 0.3412192 0.9399837 2 0.3426607 0.9394592 0 0.3426607 0.9394592 2 0.3441014 0.9389325 0 0.3441014 0.9389325 2 0.3455413 0.9384036 0 0.3455413 0.9384036 2 0.3469804 0.9378724 0 0.3469804 0.9378724 2 0.3484187 0.937339 0 0.3484187 0.937339 2 0.3498561 0.9368035 0 0.3498561 0.9368035 2 0.3512927 0.9362657 0 0.3512927 0.9362657 2 0.3527286 0.9357257 0 0.3527286 0.9357257 2 0.3541635 0.9351835 0 0.3541635 0.9351835 2 0.3555977 0.9346391 0 0.3555977 0.9346391 2 0.357031 0.9340925 0 0.357031 0.9340925 2 0.3584634 0.9335438 0 0.3584634 0.9335438 2 0.3598951 0.9329928 0 0.3598951 0.9329928 2 0.3613258 0.9324396 0 0.3613258 0.9324396 2 0.3627557 0.9318843 0 0.3627557 0.9318843 2 0.3641848 0.9313267 0 0.3641848 0.9313267 2 0.365613 0.9307669 0 0.365613 0.9307669 2 0.3670403 0.930205 0 0.3670403 0.930205 2 0.3684668 0.9296409 0 0.3684668 0.9296409 2 0.3698924 0.9290746 0 0.3698924 0.9290746 2 0.3713172 0.9285061 0 0.3713172 0.9285061 2 0.3727411 0.9279354 0 0.3727411 0.9279354 2 0.3741641 0.9273625 0 0.3741641 0.9273625 2 0.3755862 0.9267875 0 0.3755862 0.9267875 2 0.3770074 0.9262102 0 0.3770074 0.9262102 2 0.3784278 0.9256308 0 0.3784278 0.9256308 2 0.3798472 0.9250493 0 0.3798472 0.9250493 2 0.3812658 0.9244655 0 0.3812658 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0 0.7949072 0.6067311 2 0.7958369 0.605511 0 0.7958369 0.605511 2 0.7967648 0.6042895 0 0.7967648 0.6042895 2 0.7976908 0.6030666 0 0.7976908 0.6030666 2 0.798615 0.6018423 0 0.798615 0.6018423 2 0.7995373 0.6006165 0 0.7995373 0.6006165 2 0.8004577 0.5993893 0 0.8004577 0.5993893 2 0.8013762 0.5981608 0 0.8013762 0.5981608 2 0.8022928 0.5969308 0 0.8022928 0.5969308 2 0.8032075 0.5956993 0 0.8032075 0.5956993 2 0.8041204 0.5944665 0 0.8041204 0.5944665 2 0.8050313 0.5932323 0 0.8050313 0.5932323 2 0.8059404 0.5919967 0 0.8059404 0.5919967 2 0.8068476 0.5907597 0 0.8068476 0.5907597 2 0.8077529 0.5895213 0 0.8077529 0.5895213 2 0.8086562 0.5882816 0 0.8086562 0.5882816 2 0.8095577 0.5870404 0 0.8095577 0.5870404 2 0.8104572 0.5857979 0 0.8104572 0.5857979 2 0.8113548 0.584554 0 0.8113548 0.584554 2 0.8122506 0.5833087 0 0.8122506 0.5833087 2 0.8131444 0.582062 0 0.8131444 0.582062 2 0.8140363 0.580814 0 0.8140363 0.580814 2 0.8149263 0.5795646 0 0.8149263 0.5795646 2 0.8158144 0.5783138 0 0.8158144 0.5783138 2 0.8167006 0.5770617 0 0.8167006 0.5770617 2 0.8175848 0.5758082 0 0.8175848 0.5758082 2 0.8184671 0.5745534 0 0.8184671 0.5745534 2 0.8193475 0.5732972 0 0.8193475 0.5732972 2 0.820226 0.5720396 0 0.820226 0.5720396 2 0.8211025 0.5707808 0 0.8211025 0.5707808 2 0.8219771 0.5695205 0 0.8219771 0.5695205 2 0.8228498 0.568259 0 0.8228498 0.568259 2 0.8237205 0.5669961 0 0.8237205 0.5669961 2 0.8245893 0.5657318 0 0.8245893 0.5657318 2 0.8254562 0.5644662 0 0.8254562 0.5644662 2 0.8263211 0.5631994 0 0.8263211 0.5631994 2 0.827184 0.5619311 0 0.827184 0.5619311 2 0.828045 0.5606616 0 0.828045 0.5606616 2 0.8289041 0.5593907 0 0.8289041 0.5593907 2 0.8297612 0.5581185 0 0.8297612 0.5581185 2 0.8306164 0.5568451 0 0.8306164 0.5568451 2 0.8314696 0.5555703 0 0.8314696 0.5555703 2 0.8323209 0.5542941 0 0.8323209 0.5542941 2 0.8331702 0.5530167 0 0.8331702 0.5530167 2 0.8340175 0.551738 0 0.8340175 0.551738 2 0.8348628 0.550458 0 0.8348628 0.550458 2 0.8357062 0.5491767 0 0.8357062 0.5491767 2 0.8365477 0.5478941 0 0.8365477 0.5478941 2 0.8373872 0.5466102 0 0.8373872 0.5466102 2 0.8382247 0.545325 0 0.8382247 0.545325 2 0.8390603 0.5440385 0 0.8390603 0.5440385 2 0.8398938 0.5427508 0 0.8398938 0.5427508 2 0.8407254 0.5414618 0 0.8407254 0.5414618 2 0.841555 0.5401715 0 0.841555 0.5401715 2 0.8423826 0.5388799 0 0.8423826 0.5388799 2 0.8432083 0.5375871 0 0.8432083 0.5375871 2 0.8440319 0.536293 0 0.8440319 0.536293 2 0.8448536 0.5349976 0 0.8448536 0.5349976 2 0.8456733 0.533701 0 0.8456733 0.533701 2 0.8464909 0.5324032 0 0.8464909 0.5324032 2 0.8473066 0.531104 0 0.8473066 0.531104 2 0.8481203 0.5298036 0 0.8481203 0.5298036 2 0.848932 0.5285021 0 0.848932 0.5285021 2 0.8497418 0.5271992 0 0.8497418 0.5271992 2 0.8505495 0.5258951 0 0.8505495 0.5258951 2 0.8513552 0.5245897 0 0.8513552 0.5245897 2 0.8521589 0.5232831 0 0.8521589 0.5232831 2 0.8529606 0.5219753 0 0.8529606 0.5219753 2 0.8537603 0.5206663 0 0.8537603 0.5206663 2 0.854558 0.519356 0 0.854558 0.519356 2 0.8553537 0.5180445 0 0.8553537 0.5180445 2 0.8561474 0.5167318 0 0.8561474 0.5167318 2 0.856939 0.5154179 0 0.856939 0.5154179 2 0.8577286 0.5141028 0 0.8577286 0.5141028 2 0.8585162 0.5127865 0 0.8585162 0.5127865 2 0.8593018 0.5114689 0 0.8593018 0.5114689 2 0.8600854 0.5101501 0 0.8600854 0.5101501 2 0.8608669 0.5088302 0 0.8608669 0.5088302 2 0.8616465 0.507509 0 0.8616465 0.507509 2 0.862424 0.5061867 0 0.862424 0.5061867 2 0.8631994 0.5048632 0 0.8631994 0.5048632 2 0.8639729 0.5035384 0 0.8639729 0.5035384 2 0.8647443 0.5022125 0 0.8647443 0.5022125 2 0.8655136 0.5008854 0 0.8655136 0.5008854 2 0.866281 0.4995571 0 0.866281 0.4995571 2 0.8670462 0.4982277 0 0.8670462 0.4982277 2 0.8678095 0.4968971 0 0.8678095 0.4968971 2 0.8685707 0.4955653 0 0.8685707 0.4955653 2 0.8693299 0.4942323 0 0.8693299 0.4942323 2 0.870087 0.4928982 0 0.870087 0.4928982 2 0.870842 0.4915629 0 0.870842 0.4915629 2 0.8715951 0.4902265 0 0.8715951 0.4902265 2 0.8723461 0.4888889 0 0.8723461 0.4888889 2 0.873095 0.4875501 0 0.873095 0.4875501 2 0.8738418 0.4862103 0 0.8738418 0.4862103 2 0.8745867 0.4848693 0 0.8745867 0.4848693 2 0.8753294 0.4835271 0 0.8753294 0.4835271 2 0.8760701 0.4821838 0 0.8760701 0.4821838 2 0.8768087 0.4808393 0 0.8768087 0.4808393 2 0.8775453 0.4794937 0 0.8775453 0.4794937 2 0.8782798 0.478147 0 0.8782798 0.478147 2 0.8790122 0.4767993 0 0.8790122 0.4767993 2 0.8797426 0.4754503 0 0.8797426 0.4754503 2 0.8804709 0.4741002 0 0.8804709 0.4741002 2 0.8811971 0.4727491 0 0.8811971 0.4727491 2 0.8819212 0.4713968 0 0.8819212 0.4713968 2 0.8826434 0.4700433 0 0.8826434 0.4700433 2 0.8833633 0.4686889 0 0.8833633 0.4686889 2 0.8840813 0.4673332 0 0.8840813 0.4673332 2 0.8847971 0.4659765 0 0.8847971 0.4659765 2 0.8855109 0.4646187 0 0.8855109 0.4646187 2 0.8862226 0.4632598 0 0.8862226 0.4632598 2 0.8869321 0.4618998 0 0.8869321 0.4618998 2 0.8876397 0.4605387 0 0.8876397 0.4605387 2 0.888345 0.4591765 0 0.888345 0.4591765 2 0.8890483 0.4578133 0 0.8890483 0.4578133 2 0.8897496 0.456449 0 0.8897496 0.456449 2 0.8904488 0.4550836 0 0.8904488 0.4550836 2 0.8911458 0.4537171 0 0.8911458 0.4537171 2 0.8918407 0.4523496 0 0.8918407 0.4523496 2 0.8925336 0.450981 0 0.8925336 0.450981 2 0.8932243 0.4496113 0 0.8932243 0.4496113 2 0.893913 0.4482406 0 0.893913 0.4482406 2 0.8945995 0.4468688 0 0.8945995 0.4468688 2 0.8952839 0.445496 0 0.8952839 0.445496 2 0.8959662 0.4441221 0 0.8959662 0.4441221 2 0.8966464 0.4427472 0 0.8966464 0.4427472 2 0.8973246 0.4413713 0 0.8973246 0.4413713 2 0.8980006 0.4399943 0 0.8980006 0.4399943 2 0.8986745 0.4386162 0 0.8986745 0.4386162 2 0.8993462 0.4372372 0 0.8993462 0.4372372 2 0.9000159 0.4358571 0 0.9000159 0.4358571 2 0.9006834 0.434476 0 0.9006834 0.434476 2 0.9013488 0.4330939 0 0.9013488 0.4330939 2 0.9020121 0.4317107 0 0.9020121 0.4317107 2 0.9026733 0.4303265 0 0.9026733 0.4303265 2 0.9033324 0.4289413 0 0.9033324 0.4289413 2 0.9039893 0.4275551 0 0.9039893 0.4275551 2 0.9046441 0.4261679 0 0.9046441 0.4261679 2 0.9052968 0.4247797 0 0.9052968 0.4247797 2 0.9059473 0.4233905 0 0.9059473 0.4233905 2 0.9065957 0.4220003 0 0.9065957 0.4220003 2 0.907242 0.4206091 0 0.907242 0.4206091 2 0.9078861 0.4192169 0 0.9078861 0.4192169 2 0.9085281 0.4178237 0 0.9085281 0.4178237 2 0.909168 0.4164296 0 0.909168 0.4164296 2 0.9098057 0.4150344 0 0.9098057 0.4150344 2 0.9104413 0.4136383 0 0.9104413 0.4136383 2 0.9110748 0.4122412 0 0.9110748 0.4122412 2 0.911706 0.4108432 0 0.911706 0.4108432 2 0.9123352 0.4094442 0 0.9123352 0.4094442 2 0.9129622 0.4080442 0 0.9129622 0.4080442 2 0.913587 0.4066432 0 0.913587 0.4066432 2 0.9142097 0.4052413 0 0.9142097 0.4052413 2 0.9148303 0.4038385 0 0.9148303 0.4038385 2 0.9154487 0.4024347 0 0.9154487 0.4024347 2 0.916065 0.4010299 0 0.916065 0.4010299 2 0.9166791 0.3996242 0 0.9166791 0.3996242 2 0.917291 0.3982176 0 0.917291 0.3982176 2 0.9179008 0.39681 0 0.9179008 0.39681 2 0.9185084 0.3954015 0 0.9185084 0.3954015 2 0.9191139 0.3939921 0 0.9191139 0.3939921 2 0.9197171 0.3925817 0 0.9197171 0.3925817 2 0.9203183 0.3911704 0 0.9203183 0.3911704 2 0.9209172 0.3897582 0 0.9209172 0.3897582 2 0.921514 0.388345 0 0.921514 0.388345 2 0.9221087 0.386931 0 0.9221087 0.386931 2 0.9227011 0.3855161 0 0.9227011 0.3855161 2 0.9232914 0.3841002 0 0.9232914 0.3841002 2 0.9238795 0.3826835 0 0.9238795 0.3826835 2 0.9244655 0.3812658 0 0.9244655 0.3812658 2 0.9250493 0.3798472 0 0.9250493 0.3798472 2 0.9256308 0.3784278 0 0.9256308 0.3784278 2 0.9262102 0.3770074 0 0.9262102 0.3770074 2 0.9267875 0.3755862 0 0.9267875 0.3755862 2 0.9273625 0.3741641 0 0.9273625 0.3741641 2 0.9279354 0.3727411 0 0.9279354 0.3727411 2 0.9285061 0.3713172 0 0.9285061 0.3713172 2 0.9290746 0.3698924 0 0.9290746 0.3698924 2 0.9296409 0.3684668 0 0.9296409 0.3684668 2 0.930205 0.3670403 0 0.930205 0.3670403 2 0.9307669 0.365613 0 0.9307669 0.365613 2 0.9313267 0.3641848 0 0.9313267 0.3641848 2 0.9318843 0.3627557 0 0.9318843 0.3627557 2 0.9324396 0.3613258 0 0.9324396 0.3613258 2 0.9329928 0.3598951 0 0.9329928 0.3598951 2 0.9335438 0.3584634 0 0.9335438 0.3584634 2 0.9340925 0.357031 0 0.9340925 0.357031 2 0.9346391 0.3555977 0 0.9346391 0.3555977 2 0.9351835 0.3541635 0 0.9351835 0.3541635 2 0.9357257 0.3527286 0 0.9357257 0.3527286 2 0.9362657 0.3512927 0 0.9362657 0.3512927 2 0.9368035 0.3498561 0 0.9368035 0.3498561 2 0.937339 0.3484187 0 0.937339 0.3484187 2 0.9378724 0.3469804 0 0.9378724 0.3469804 2 0.9384036 0.3455413 0 0.9384036 0.3455413 2 0.9389325 0.3441014 0 0.9389325 0.3441014 2 0.9394592 0.3426607 0 0.9394592 0.3426607 2 0.9399837 0.3412192 0 0.9399837 0.3412192 2 0.9405061 0.3397769 0 0.9405061 0.3397769 2 0.9410262 0.3383337 0 0.9410262 0.3383337 2 0.9415441 0.3368899 0 0.9415441 0.3368899 2 0.9420598 0.3354452 0 0.9420598 0.3354452 2 0.9425732 0.3339996 0 0.9425732 0.3339996 2 0.9430844 0.3325534 0 0.9430844 0.3325534 2 0.9435935 0.3311063 0 0.9435935 0.3311063 2 0.9441003 0.3296585 0 0.9441003 0.3296585 2 0.9446048 0.3282098 0 0.9446048 0.3282098 2 0.9451072 0.3267605 0 0.9451072 0.3267605 2 0.9456073 0.3253103 0 0.9456073 0.3253103 2 0.9461053 0.3238593 0 0.9461053 0.3238593 2 0.9466009 0.3224077 0 0.9466009 0.3224077 2 0.9470945 0.3209552 0 0.9470945 0.3209552 2 0.9475856 0.319502 0 0.9475856 0.319502 2 0.9480746 0.3180481 0 0.9480746 0.3180481 2 0.9485614 0.3165934 0 0.9485614 0.3165934 2 0.9490459 0.3151379 0 0.9490459 0.3151379 2 0.9495282 0.3136817 0 0.9495282 0.3136817 2 0.9500082 0.3122248 0 0.9500082 0.3122248 2 0.9504861 0.3107671 0 0.9504861 0.3107671 2 0.9509617 0.3093088 0 0.9509617 0.3093088 2 0.951435 0.3078497 0 0.951435 0.3078497 2 0.9519062 0.3063898 0 0.9519062 0.3063898 2 0.952375 0.3049293 0 0.952375 0.3049293 2 0.9528416 0.3034679 0 0.9528416 0.3034679 2 0.953306 0.302006 0 0.953306 0.302006 2 0.9537682 0.3005433 0 0.9537682 0.3005433 2 0.9542281 0.2990798 0 0.9542281 0.2990798 2 0.9546858 0.2976157 0 0.9546858 0.2976157 2 0.9551412 0.2961509 0 0.9551412 0.2961509 2 0.9555943 0.2946854 0 0.9555943 0.2946854 2 0.9560453 0.2932192 0 0.9560453 0.2932192 2 0.9564939 0.2917523 0 0.9564939 0.2917523 2 0.9569404 0.2902847 0 0.9569404 0.2902847 2 0.9573845 0.2888164 0 0.9573845 0.2888164 2 0.9578264 0.2873475 0 0.9578264 0.2873475 2 0.9582661 0.2858778 0 0.9582661 0.2858778 2 0.9587035 0.2844076 0 0.9587035 0.2844076 2 0.9591386 0.2829366 0 0.9591386 0.2829366 2 0.9595715 0.2814649 0 0.9595715 0.2814649 2 0.9600021 0.2799926 0 0.9600021 0.2799926 2 0.9604305 0.2785197 0 0.9604305 0.2785197 2 0.9608566 0.2770461 0 0.9608566 0.2770461 2 0.9612805 0.2755718 0 0.9612805 0.2755718 2 0.9617021 0.2740969 0 0.9617021 0.2740969 2 0.9621214 0.2726213 0 0.9621214 0.2726213 2 0.9625385 0.2711452 0 0.9625385 0.2711452 2 0.9629533 0.2696684 0 0.9629533 0.2696684 2 0.9633658 0.2681909 0 0.9633658 0.2681909 2 0.9637761 0.2667128 0 0.9637761 0.2667128 2 0.9641841 0.2652341 0 0.9641841 0.2652341 2 0.9645898 0.2637547 0 0.9645898 0.2637547 2 0.9649932 0.2622747 0 0.9649932 0.2622747 2 0.9653944 0.2607941 0 0.9653944 0.2607941 2 0.9657934 0.2593129 0 0.9657934 0.2593129 2 0.96619 0.2578311 0 0.96619 0.2578311 2 0.9665844 0.2563487 0 0.9665844 0.2563487 2 0.9669765 0.2548657 0 0.9669765 0.2548657 2 0.9673663 0.253382 0 0.9673663 0.253382 2 0.9677538 0.2518978 0 0.9677538 0.2518978 2 0.9681391 0.250413 0 0.9681391 0.250413 2 0.9685221 0.2489276 0 0.9685221 0.2489276 2 0.9689028 0.2474416 0 0.9689028 0.2474416 2 0.9692813 0.245955 0 0.9692813 0.245955 2 0.9696574 0.2444679 0 0.9696574 0.2444679 2 0.9700313 0.2429802 0 0.9700313 0.2429802 2 0.9704028 0.2414919 0 0.9704028 0.2414919 2 0.9707722 0.240003 0 0.9707722 0.240003 2 0.9711391 0.2385136 0 0.9711391 0.2385136 2 0.9715039 0.2370236 0 0.9715039 0.2370236 2 0.9718663 0.2355329 0 0.9718663 0.2355329 2 0.9722265 0.2340419 0 0.9722265 0.2340419 2 0.9725844 0.2325503 0 0.9725844 0.2325503 2 0.97294 0.2310581 0 0.97294 0.2310581 2 0.9732933 0.2295653 0 0.9732933 0.2295653 2 0.9736443 0.2280721 0 0.9736443 0.2280721 2 0.973993 0.2265782 0 0.973993 0.2265782 2 0.9743394 0.2250839 0 0.9743394 0.2250839 2 0.9746835 0.223589 0 0.9746835 0.223589 2 0.9750254 0.2220936 0 0.9750254 0.2220936 2 0.9753649 0.2205977 0 0.9753649 0.2205977 2 0.9757021 0.2191012 0 0.9757021 0.2191012 2 0.9760371 0.2176042 0 0.9760371 0.2176042 2 0.9763697 0.2161068 0 0.9763697 0.2161068 2 0.9767001 0.2146088 0 0.9767001 0.2146088 2 0.9770281 0.2131103 0 0.9770281 0.2131103 2 0.9773539 0.2116113 0 0.9773539 0.2116113 2 0.9776774 0.2101117 0 0.9776774 0.2101117 2 0.9779985 0.2086118 0 0.9779985 0.2086118 2 0.9783174 0.2071114 0 0.9783174 0.2071114 2 0.9786339 0.2056104 0 0.9786339 0.2056104 2 0.9789482 0.204109 0 0.9789482 0.204109 2 0.9792602 0.202607 0 0.9792602 0.202607 2 0.9795698 0.2011046 0 0.9795698 0.2011046 2 0.9798771 0.1996017 0 0.9798771 0.1996017 2 0.9801821 0.1980984 0 0.9801821 0.1980984 2 0.9804849 0.1965945 0 0.9804849 0.1965945 2 0.9807853 0.1950903 0 0.9807853 0.1950903 2 0.9810834 0.1935856 0 0.9810834 0.1935856 2 0.9813792 0.1920804 0 0.9813792 0.1920804 2 0.9816727 0.1905747 0 0.9816727 0.1905747 2 0.9819639 0.1890686 0 0.9819639 0.1890686 2 0.9822527 0.1875621 0 0.9822527 0.1875621 2 0.9825393 0.1860551 0 0.9825393 0.1860551 2 0.9828236 0.1845477 0 0.9828236 0.1845477 2 0.9831055 0.1830399 0 0.9831055 0.1830399 2 0.9833851 0.1815316 0 0.9833851 0.1815316 2 0.9836624 0.1800228 0 0.9836624 0.1800228 2 0.9839375 0.1785138 0 0.9839375 0.1785138 2 0.9842101 0.1770042 0 0.9842101 0.1770042 2 0.9844805 0.1754943 0 0.9844805 0.1754943 2 0.9847485 0.1739838 0 0.9847485 0.1739838 2 0.9850143 0.1724731 0 0.9850143 0.1724731 2 0.9852777 0.1709619 0 0.9852777 0.1709619 2 0.9855387 0.1694503 0 0.9855387 0.1694503 2 0.9857975 0.1679382 0 0.9857975 0.1679382 2 0.986054 0.1664259 0 0.986054 0.1664259 2 0.9863081 0.1649131 0 0.9863081 0.1649131 2 0.9865599 0.1633999 0 0.9865599 0.1633999 2 0.9868094 0.1618863 0 0.9868094 0.1618863 2 0.9870566 0.1603724 0 0.9870566 0.1603724 2 0.9873014 0.1588581 0 0.9873014 0.1588581 2 0.987544 0.1573435 0 0.987544 0.1573435 2 0.9877842 0.1558284 0 0.9877842 0.1558284 2 0.988022 0.154313 0 0.988022 0.154313 2 0.9882576 0.1527972 0 0.9882576 0.1527972 2 0.9884908 0.1512809 0 0.9884908 0.1512809 2 0.9887217 0.1497645 0 0.9887217 0.1497645 2 0.9889503 0.1482477 0 0.9889503 0.1482477 2 0.9891765 0.1467304 0 0.9891765 0.1467304 2 0.9894005 0.1452129 0 0.9894005 0.1452129 2 0.989622 0.1436949 0 0.989622 0.1436949 2 0.9898413 0.1421768 0 0.9898413 0.1421768 2 0.9900582 0.1406581 0 0.9900582 0.1406581 2 0.9902728 0.1391392 0 0.9902728 0.1391392 2 0.9904851 0.1376201 0 0.9904851 0.1376201 2 0.990695 0.1361005 0 0.990695 0.1361005 2 0.9909027 0.1345807 0 0.9909027 0.1345807 2 0.991108 0.1330605 0 0.991108 0.1330605 2 0.9913108 0.13154 0 0.9913108 0.13154 2 0.9915115 0.1300192 0 0.9915115 0.1300192 2 0.9917098 0.1284981 0 0.9917098 0.1284981 2 0.9919057 0.1269767 0 0.9919057 0.1269767 2 0.9920993 0.125455 0 0.9920993 0.125455 2 0.9922906 0.123933 0 0.9922906 0.123933 2 0.9924796 0.1224107 0 0.9924796 0.1224107 2 0.9926661 0.1208881 0 0.9926661 0.1208881 2 0.9928504 0.1193652 0 0.9928504 0.1193652 2 0.9930323 0.117842 0 0.9930323 0.117842 2 0.9932119 0.1163186 0 0.9932119 0.1163186 2 0.9933892 0.1147949 0 0.9933892 0.1147949 2 0.9935641 0.1132709 0 0.9935641 0.1132709 2 0.9937368 0.1117467 0 0.9937368 0.1117467 2 0.993907 0.1102222 0 0.993907 0.1102222 2 0.994075 0.1086974 0 0.994075 0.1086974 2 0.9942405 0.1071724 0 0.9942405 0.1071724 2 0.9944037 0.1056472 0 0.9944037 0.1056472 2 0.9945646 0.1041216 0 0.9945646 0.1041216 2 0.9947232 0.1025959 0 0.9947232 0.1025959 2 0.9948793 0.1010698 0 0.9948793 0.1010698 2 0.9950332 0.09954357 0 0.9950332 0.09954357 2 0.9951847 0.09801709 0 0.9951847 0.09801709 2 0.9953339 0.09649044 0 0.9953339 0.09649044 2 0.9954808 0.09496349 0 0.9954808 0.09496349 2 0.9956253 0.0934363 0 0.9956253 0.0934363 2 0.9957674 0.09190893 0 0.9957674 0.09190893 2 0.9959073 0.09038132 0 0.9959073 0.09038132 2 0.9960447 0.08885353 0 0.9960447 0.08885353 2 0.9961798 0.08732551 0 0.9961798 0.08732551 2 0.9963126 0.0857973 0 0.9963126 0.0857973 2 0.996443 0.08426886 0 0.996443 0.08426886 2 0.9965711 0.08274024 0 0.9965711 0.08274024 2 0.9966969 0.08121144 0 0.9966969 0.08121144 2 0.9968203 0.0796824 0 0.9968203 0.0796824 2 0.9969413 0.07815325 0 0.9969413 0.07815325 2 0.9970601 0.07662385 0 0.9970601 0.07662385 2 0.9971764 0.07509428 0 0.9971764 0.07509428 2 0.9972904 0.07356452 0 0.9972904 0.07356452 2 0.9974021 0.07203465 0 0.9974021 0.07203465 2 0.9975115 0.07050454 0 0.9975115 0.07050454 2 0.9976184 0.06897431 0 0.9976184 0.06897431 2 0.9977231 0.0674439 0 0.9977231 0.0674439 2 0.9978253 0.06591331 0 0.9978253 0.06591331 2 0.9979254 0.06438261 0 0.9979254 0.06438261 2 0.9980229 0.06285172 0 0.9980229 0.06285172 2 0.9981181 0.06132072 0 0.9981181 0.06132072 2 0.998211 0.05978947 0 0.998211 0.05978947 2 0.9983016 0.05825817 0 0.9983016 0.05825817 2 0.9983897 0.05672681 0 0.9983897 0.05672681 2 0.9984756 0.05519521 0 0.9984756 0.05519521 2 0.9985591 0.05366349 0 0.9985591 0.05366349 2 0.9986402 0.05213171 0 0.9986402 0.05213171 2 0.998719 0.05059975 0 0.998719 0.05059975 2 0.9987955 0.04906761 0 0.9987955 0.04906761 2 0.9988695 0.04753541 0 0.9988695 0.04753541 2 0.9989413 0.04600316 0 0.9989413 0.04600316 2 0.9990107 0.04447066 0 0.9990107 0.04447066 2 0.9990777 0.04293823 0 0.9990777 0.04293823 2 0.9991424 0.04140555 0 0.9991424 0.04140555 2 0.9992048 0.03987288 0 0.9992048 0.03987288 2 0.9992648 0.03834009 0 0.9992648 0.03834009 2 0.9993224 0.03680711 0 0.9993224 0.03680711 2 0.9993777 0.03527414 0 0.9993777 0.03527414 2 0.9994306 0.03374111 0 0.9994306 0.03374111 2 0.9994812 0.03220796 0 0.9994812 0.03220796 2 0.9995294 0.03067475 0 0.9995294 0.03067475 2 0.9995753 0.02914148 0 0.9995753 0.02914148 2 0.9996188 0.02760803 0 0.9996188 0.02760803 2 0.99966 0.02607464 0 0.99966 0.02607464 2 0.9996988 0.02454113 0 0.9996988 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + diff --git a/test/worlds/models/cylinder_dae_bottom_origin/model.config b/test/worlds/models/cylinder_dae_bottom_origin/model.config new file mode 100644 index 0000000000..55c175855d --- /dev/null +++ b/test/worlds/models/cylinder_dae_bottom_origin/model.config @@ -0,0 +1,16 @@ + + + + cylinder_dae_bottom_origin + 1.0 + model.sdf + + + Jasmeet Singh + jasmeet0915@gmail.com + + + + A model of a Cylinder collada with mesh origin at the center of the bottom face + + diff --git a/test/worlds/models/cylinder_dae_bottom_origin/model.sdf b/test/worlds/models/cylinder_dae_bottom_origin/model.sdf new file mode 100644 index 0000000000..ea2e28c78e --- /dev/null +++ b/test/worlds/models/cylinder_dae_bottom_origin/model.sdf @@ -0,0 +1,33 @@ + + + + + 0 0 0 0 0 0 + + + 1240.0 + + 0.01 + + + + meshes/cylinder_bottom_origin.dae + + + + + 0 0 0 0 0 0 + + + meshes/cylinder_bottom_origin.dae + + + + 0.7 0.7 0.7 1.0 + 0.7 0.7 0.7 1.0 + 0.7 0.7 0.7 1.0 + + + + + diff --git a/test/worlds/non_rendering_sensors.sdf b/test/worlds/non_rendering_sensors.sdf index fe83205482..6b149df6dc 100644 --- a/test/worlds/non_rendering_sensors.sdf +++ b/test/worlds/non_rendering_sensors.sdf @@ -4,11 +4,6 @@ 0 - - ogre2 - diff --git a/tutorials.md.in b/tutorials.md.in index 950dc9f4d1..0fa2b9f2ab 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -52,6 +52,7 @@ If you are an absolute beginner, start with the Tutorials section. * \subpage underwater_vehicles "Underwater Vehicles": Understand how to simulate underwater vehicles * \subpage logicalaudiosensor "Logical Audio Sensor": Using the LogicalAudioSensor system to mimic logical audio emission and detection in simulation. * \subpage auto_inertia_calculation "Automatic Inertia Calculation": Automatically compute inertia values(mass, mass matrix, center of mass) for SDFormat links. +* \subpage jointcontrollers "Joint Controllers": Using available joint controller plugins to control joints. ### Advanced @@ -60,6 +61,7 @@ If you are an absolute beginner, start with the Tutorials section. ### Developers * \subpage createsystemplugins "Create System Plugins": Programmatically access simulation using C++ plugins. +* \subpage usingcomponents "Using components": Using components in a system plugin.* * \subpage rendering_plugins "Rendering plugins": Write plugins that use Gazebo Rendering on the server and client. * \subpage test_fixture "Test Fixture": Writing automated CI tests @@ -89,6 +91,27 @@ If you are an absolute beginner, start with the Tutorials section. * \subpage blender_distort_meshes "Blender mesh distortion": Use a Blender Python script to programmatically deform and distort meshes to customized extents. * \subpage blender_procedural_datasets "Generation of Procedural Datasets with Blender": Use Blender with a Python script to generate procedural datasets of SDF models. +### Maritime + +* \subpage theory_buoyancy "Buoyancy: " Describe the theory of operation of the +buoyancy plugin. +* \subpage theory_hydrodynamics "Hydrodynamics:" Describe the theory of +operation of the hydrodynamics plugin. +* \subpage create_vehicle "Create a maritime vehicle:" How to design a maritime +model. +* \subpage adding_visuals "Adding visuals:" How to import 3D meshes into Gazebo +to increase the visual fidelity of your model. +* \subpage frame_reference "Frame of reference:" Decide the frame of reference +for your model. +* \subpage adding_system_plugins "Adding system plugins:" How to add plugins to +your model to provide extra capabilities to it. +* \subpage lander "Create a lander vehicle:" How to create a lander robot. +* \subpage underwater_vehicles "Create an underwater vehicle:" How to create an +underwater robot. +* \subpage surface_vehicles "Create a surface vehicle:" How to create a maritime +surface robot. + + ## Reference The reference section contains information that may come in handy for lookup. diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md new file mode 100644 index 0000000000..0df852a22d --- /dev/null +++ b/tutorials/adding_system_plugins.md @@ -0,0 +1,139 @@ +\page adding_system_plugins + +# Overview + +This tutorial explains how to add plugins to your model to provide extra +capabilities to it. + +## Prerequisites + +Make sure to go through the following tutorial first, where you'll learn how +to create the vehicle used in this tutorial. + +https://gazebosim.org/api/sim/8/create_vehicle.html + +## Related tutorials + +https://gazebosim.org/api/sim/8/createsystemplugins.html + +# Adding a system plugin + +[This Gazebo tutorial](https://gazebosim.org/api/sim/8/createsystemplugins.html) +describes what is a system plugin in depth. Intuitively, you can envision a +system plugin as a piece of code that modifies the behavior of the simulation +when the general physics engine does not exactly capture your needs. +In our example, our turtle does not move because it's configured as a static +model. Let's see what happens if you remove that tag. + +Modify your `~/gazebo_maritime/models/my_turtle/model.sdf` and remove the line + `true`. Then launch the simulation: + +```bash +gz sim ~/gazebo_maritime/models/my_turtle/model.sdf +``` + +Hit the play button and you'll see how your turtle falls into the void. Perhaps +not what you expected but this is completely normal. Gazebo thinks that your +turtle is in the air without any support underneath. Then, gravity makes your +turtle to free fall forever. + +If we want to simulate that our turtle floats like if it was in the water, +we'll need to attach a custom buoyancy plugin to our world. This buoyancy plugin +already exists in Gazebo, we only need to load it. + +Now, run Gazebo with the provided `buoyant_turtle.sdf` world and you'll see how +your turtle does not sink anymore. + +```bash +mkdir -p ~/gazebo_maritime/worlds +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -O ~/gazebo_maritime/worlds/buoyant_turtle.sdf +export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models +gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf +``` + +The turtle now stays floating with an oscillating movement up and down. + +You just added buoyancy to your model! As a general rule, a maritime model will +need at least two system plugins: + +1. Buoyancy +2. Hydrodynamics + +As you have experienced, the buoyancy plugin generates an upthrust opposing some +weight of the model. Your model could have positive, neutral or negative +buoyancy. You'll be able to tune that aspect of your model later. + +The hydrodynamics plugin models the force and torque that the vehicle +experiences when moving within a fluid. Intuitively, the hydrodynamics plugin +generates drag opposing the movement of the vehicle. If your model does not have +hydrodynamics, it will behave as if there's no resistance. + +For the sake of illustrating the effect of hydrodynamics, let's attach a simple +controller to our turtle and move it without hydrodynamics. Keep in mind that +the goal is to move the model one meter and stop it. + +Uncomment the following block from `buoyant_turtle.sdf`: + +```xml + + base_link + 0.2 + 0.01 + 0.1 + + 1 0 + + +``` + +And run Gazebo: + +```bash +gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf +``` + +As you just observed, we failed in our goal and the turtle behaved as if it was +moving on ice. Now, let's add hydrodynamics. + +Uncomment the following block from `buoyant_turtle.sdf`: + +```xml + + base_link + -0.04876161 + -1.26324739 + -1.26324739 + 0 + -0.3346 + -0.3346 + -0.62282 + -5 + -60.127 + -5 + -6.0127 + -100 + -0.001916 + -1 + -6.32698957 + -1 + -6.32698957 + -1 + +``` + +And run Gazebo: + +```bash +gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf +``` + +Now, when our simple trajectory controller reaches its target and stops appling +force, the turtle stops moving acting like the fluid decelerates its motion. +Additionally you can notice how the up and down oscillations are also damped by +the effect of the hydrodynamics. + +The hydrodynamics are also configurable with its SDF parameters but we'll talk +about configuration in a separate tutorial. diff --git a/tutorials/adding_visuals.md b/tutorials/adding_visuals.md new file mode 100644 index 0000000000..7df40c70b2 --- /dev/null +++ b/tutorials/adding_visuals.md @@ -0,0 +1,122 @@ +\page adding_visuals + +# Overview + +This tutorial describes how to import 3D meshes into Gazebo to increase the +visual fidelity of your model. Continuing with our example, we'll attach a 3D +mesh to our turtle, making it look much better. + +## Related tutorials + +https://gazebosim.org/api/sim/8/meshtofuel.html + +The next tutorials, although still relevant, are from an older version of Gazebo +and some details might be different than the current versions: + +https://classic.gazebosim.org/tutorials?tut=import_mesh&cat=build_robot +https://classic.gazebosim.org/tutorials?cat=guided_i&tut=guided_i2 + +## What is a visual? + +The visual element specifies the shape used by the rendering engine. For most +use cases the collision and visual elements are the same. The most common use +for different collision and visual elements is to have a simplified collision +element paired with a visual element that uses a complex mesh. This will help +improve performance. + +SDF supports the notion of visual as described +[here](http://sdformat.org/spec?ver=1.10&elem=visual). + +From our +[previous tutorial](https://gazebosim.org/api/sim/8/create_vehicle.html), +the turtle visual is a cylinder. Let's use a COLLADA mesh instead. + +## Model directory structure + +Gazebo has defined a model directory structure that supports stand-alone models, +and the ability to share models via an online model database. Review +[this tutorial](https://gazebosim.org/api/sim/8/meshtofuel.html) for more +information. + +Another benefit of Gazebo's model structure is that it conveniently organizes +resources, such as mesh files, required by the model. + +```bash +my_turtle +β”œβ”€β”€ materials Directory for textures + └── textures +β”œβ”€β”€ meshes Directory for mesh files such as COLLADA, STL, and Wavefront OBJ files +β”œβ”€β”€ thumbnails Directory for preview images on Fuel +β”œβ”€β”€ model.config Meta data about the model +└── model.sdf SDF description of the model +``` + +Create the directories to add the mesh and its texture: + +```bash +mkdir -p ~/gazebo_maritime/models/my_turtle/meshes +mkdir -p ~/gazebo_maritime/models/my_turtle/materials/textures +``` + +Next, download the COLLADA mesh and its texture. + +```bash +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_visuals/turtle.dae -O ~/gazebo_maritime/models/my_turtle/meshes/turtle.dae +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_visuals/Turtle_BaseColor.png -O ~/gazebo_maritime/models/my_turtle/materials/textures/Turtle_BaseColor.png +``` + +Now, let's edit our `model.sdf` to use the new mesh as our visual. + +```xml + + + + true + + + + 0 0 0 0 0 0 + 10 + + 0.35032999999999995 + 0 + 0 + 0.35032999999999995 + 0 + 0.61250000000000006 + + + + + 0 0 0 0 0 0 + + + 1 1 0.009948450858321252 + + + + + + + + meshes/turtle.dae + + + + + + + +``` + +# Load your model in Gazebo + +Launch Gazebo and load our model: + +```bash +gz sim ~/gazebo_maritime/models/my_turtle/model.sdf +``` + +You should see your model visualized as a mesh now! + +@image html files/adding_visuals/basic_visual_model.png diff --git a/tutorials/auto_inertia_calculation.md b/tutorials/auto_inertia_calculation.md index e9f1322ccd..2936cf0774 100644 --- a/tutorials/auto_inertia_calculation.md +++ b/tutorials/auto_inertia_calculation.md @@ -153,11 +153,6 @@ the center of mass in this case). Here are some key points to consider when using automatic inertia calculation with 3D Meshes: * Water-tight triangle meshes are required for the Mesh Inertia Calculator. - * Currently, the mesh inertia is calculated about the mesh origin. Since the link - inertia value needs to be about the Center of Mass, the mesh origin needs to be set - at the Center of Mass (Centroid). Functions to transform the inertia matrix to the mesh - centroid in case the mesh origin is set elsewhere are under development. Therefore, this - should hopefully be fixed in the future. * Since the vertex data is used for inertia calculations, high vertex count would be needed for near ideal values. However, it is recommended to use basic shapes with the geometry tag (Box, Capsule, Cylinder, Ellipsoid and Sphere) as collision geometries get diff --git a/tutorials/component_jointforcecmd.md b/tutorials/component_jointforcecmd.md new file mode 100644 index 0000000000..e3a86134ac --- /dev/null +++ b/tutorials/component_jointforcecmd.md @@ -0,0 +1,83 @@ +\page jointforcecmdcomponent Case Study: Using the JointForceCmd Component + +We will show how to use one of the components, +\ref gz::sim::components::JointForceCmd, in a system. +This component allows us to set the force command on a joint. + +Programmatic usage of this component can be found in the source code for +systems and integration tests, such as the +[joint integration test](https://github.com/gazebosim/gz-sim/blob/gz-sim8/test/integration/joint.cc), +the \ref gz::sim::systems::ApplyJointForce system +([source code](https://github.com/gazebosim/gz-sim/tree/gz-sim8/src/systems/apply_joint_force)), +and others. + +The corresponding world SDF is [`apply_joint_force.sdf`](https://github.com/gazebosim/gz-sim/blob/gz-sim8/examples/worlds/apply_joint_force.sdf), which you can look at in Gazebo: + +```bash +gz sim apply_joint_force.sdf +``` + +We will walk through the relevant lines of source code in `ApplyJointForce` +that interact with `JointForceCmd`. + +### Find the entity of interest + +First, we will need access to an entity, the \ref gz::sim::Joint entity in this +case. It is declared as a member variable: + +\snippet src/systems/apply_joint_force/ApplyJointForce.cc jointEntityDeclaration + +An entity may have been created at the time the world is loaded, or you may +create an entity at runtime if it does not exist yet. +For joints, most likely they were defined in the SDF file that specifies the +world, and all we have to do at runtime is to look for the joint by its name. + +`ApplyJointForce` happens to be a system meant to be specified under `` +in the SDF, so at the time `Configure()` is called, it has access to a model +entity from which we can extract a \ref gz::sim::Model: + +\snippet src/systems/apply_joint_force/ApplyJointForce.cc modelDeclaration +\snippet src/systems/apply_joint_force/ApplyJointForce.cc Configure + +Using the Model object, we can find the joint by its name, when `PreUpdate()` +is called. +That gives us a Joint entity: + +\snippet src/systems/apply_joint_force/ApplyJointForce.cc findJoint + +### Modify the component + +Once we have the handle to an entity, we can modify components associated with +it. +A component may have been created at the time the world is loaded, or you may +create a component at runtime if it does not exist yet. + +In this case, we use the joint entity found above to look for and modify its +`JointForceCmd` component. +This will apply a force command to the joint. + +In `PreUpdate()`, look for the component: + +\snippet src/systems/apply_joint_force/ApplyJointForce.cc jointForceComponent + +Create it if it does not exist yet, and modify it: + +\snippet src/systems/apply_joint_force/ApplyJointForce.cc modifyComponent + +where the scalar joint force command is declared as a member variable: + +\snippet src/systems/apply_joint_force/ApplyJointForce.cc forceDeclaration + +and a callback function allows the user to specify a force on a topic: + +\snippet src/systems/apply_joint_force/ApplyJointForce.cc cmdTopic +\snippet src/systems/apply_joint_force/ApplyJointForce.cc cmdSub +\snippet src/systems/apply_joint_force/ApplyJointForce.cc setForce + +You can test this by issuing a force command to the topic: + +```bash +gz topic -t /model/joint_force_example/joint/j1/cmd_force \ + -m gz.msgs.Double -p 'data: 1.0' +``` +This should move the model that the joint is attached to. diff --git a/tutorials/create_vehicle.md b/tutorials/create_vehicle.md new file mode 100644 index 0000000000..988fd32ba4 --- /dev/null +++ b/tutorials/create_vehicle.md @@ -0,0 +1,104 @@ +\page create_vehicle + +# Overview + +This tutorial goes through the process of designing a maritime model to be used +in Gazebo. Our basic model will be a turtle. First, we'll start simple and will +add more features as we progress in the tutorials. + +## Related tutorials + +https://gazebosim.org/docs/harmonic/building_robot + +# Design a basic SDF model + +Create a workspace to store your brand new model named `my_turtle`. + +```bash +mkdir -p ~/gazebo_maritime/models/my_turtle && cd ~/gazebo_maritime/models/my_turtle +``` + +Each model must have a `model.config` file in the model's root directory that +contains meta information about the model. Create a `model.config` file: + +```xml + + + my_turtle + 1.0 + model.sdf + + + Carlos AgΓΌero + caguero@openrobotics.org + + + + My 3D turtle. + + +``` + +You can find a description of the allowed elements in `model.config` in +[this Gazebo Classic tutorial](https://classic.gazebosim.org/tutorials?tut=model_structure&cat=build_robot). + +Create a `model.sdf` file that contains the Simulator Description Format of the +model. You can find more information on the [SDF website](http://sdformat.org/). + +```xml + + + + true + + + + 0 0 0 0 0 0 + 10 + + 0.35032999999999995 + 0 + 0 + 0.35032999999999995 + 0 + 0.61250000000000006 + + + + + + + 1 1 0.009948450858321252 + + + + + + 0.08 0 0.05 0 0 0 + + + 0.35 + 0.23 + + + + + + +``` + +The `model.sdf` file contains the necessary tags to instantiate a very minimal +model named `my_turtle` using SDF version 1.6. + +# Load your model in Gazebo + +Launch Gazebo and load our model: + +```bash +gz sim ~/gazebo_maritime/models/my_turtle/model.sdf +``` + +You should see your model visualized as a cylinder and the Gazebo `Entity Tree` +should capture its structure. + +@image html files/create_vehicle/basic_model.png diff --git a/tutorials/files/adding_system_plugins/buoyant_turtle.sdf b/tutorials/files/adding_system_plugins/buoyant_turtle.sdf new file mode 100644 index 0000000000..194eaf5218 --- /dev/null +++ b/tutorials/files/adding_system_plugins/buoyant_turtle.sdf @@ 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47.72705 91.47496 76 47.44786 91.39469 76 47.17918 91.2555 76 46.93934 91.06066 76 46.74451 90.82082 76 46.60531 90.55214 76 46.52504 90.27294 76 46.5 90 76 46.52504 89.72706 76 46.60531 89.44786 76 46.74451 89.17919 76 46.93934 88.93934 76 47.17918 88.74451 76 47.44786 88.60532 76 47.72705 88.52504 76 48 88.5 77.54669 48 88.3581 79.12881 48 87.9032 80.65129 48 87.11447 82.01041 48 86.01041 83.11447 48 84.65129 83.9032 48 83.12881 84.3581 48 81.54669 84.5 48 80 84.52504 47.72705 80 84.60532 47.44786 80 84.74451 47.17918 80 84.93934 46.93934 80 85.17919 46.74451 80 85.44786 46.60531 80 85.72706 46.52504 80 86 46.5 80 86.27294 46.52504 80 86.55214 46.60531 80 86.82082 46.74451 80 87.06066 46.93934 80 87.2555 47.17918 80 87.39469 47.44786 80 87.47496 47.72705 80 84.53038 47.66073 80.38067 87.43919 47.79301 81.03204 87.47423 47.79301 80.51203 87.42871 47.58028 80.51 87.34942 47.36876 80.50646 87.23586 47.16639 80.5014 87.09004 46.98135 80.49489 86.91649 46.82101 80.48715 86.72185 46.69102 80.47846 86.51401 46.59468 80.46919 86.16934 46.51077 80.45381 85.8049 46.50806 80.88459 85.49056 46.58578 80.42352 85.46157 46.58578 80.85362 85.15728 46.75296 80.40864 84.86932 47.00429 80.39579 84.62908 47.31778 80.77851 84.50434 47.66073 80.76726 84.6555 47.31778 80.38625 85.83494 46.50806 80.43888 87.04229 47.79301 83.16037 86.99848 47.58028 83.14784 86.92218 47.36876 83.12599 86.81289 47.16639 83.09471 86.67256 46.98135 83.05455 86.50555 46.82101 83.00675 86.31823 46.69102 82.95314 86.11822 46.59468 82.8959 85.78652 46.51077 82.80097 85.46471 46.50806 82.70886 85.1333 46.58578 82.61401 84.81256 46.75296 82.52221 84.53544 47.00429 82.4429 84.32968 47.31778 82.38401 84.20926 47.66073 82.34954 84.39632 47.66073 81.55376 84.51948 47.31778 81.57655 84.72993 47.00429 81.6155 85.01337 46.75296 81.66795 85.3414 46.58578 81.72865 85.68038 46.50806 81.79138 86.00952 46.51077 81.85229 86.34877 46.59468 81.91506 86.55335 46.69102 81.95292 86.74493 46.82101 81.98838 86.91574 46.98135 82.01998 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87.95286 83.84964 46.98135 87.84964 83.72681 46.82101 87.72681 83.58904 46.69102 87.58904 83.44193 46.59468 87.44193 83.19797 46.51077 87.19797 82.96128 46.50806 86.96128 82.71752 46.58578 86.71752 82.48162 46.75296 86.48162 82.2778 47.00429 86.2778 82.12646 47.31778 86.12646 82.0379 47.66073 86.0379 82.28506 47.79301 89.61344 82.26013 47.58028 89.5753 82.21669 47.36876 89.50887 82.15449 47.16639 89.41372 82.07462 46.98135 89.29154 81.97956 46.82101 89.14614 81.87294 46.69102 88.98307 81.7591 46.59468 88.80894 81.5703 46.51077 88.52017 81.38713 46.50806 88.23999 81.1985 46.58578 87.95146 81.01594 46.75296 87.67224 80.85821 47.00429 87.43096 80.74109 47.31778 87.25183 80.67256 47.66073 87.147 80.22781 47.79301 90.67922 80.21104 47.58028 90.63686 80.18182 47.36876 90.56306 80.13998 47.16639 90.45737 80.08625 46.98135 90.32165 80.0223 46.82101 90.16013 79.95059 46.69102 89.97898 79.874 46.59468 89.78553 79.747 46.51077 89.46475 79.6238 46.50806 89.15351 79.49691 46.58578 88.833 79.3741 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80.94567 86.6891 46.69102 80.96437 86.88315 46.82101 80.98188 87.05617 46.98135 80.99748 87.20154 47.16639 81.0106 87.31476 47.36876 81.02082 87.39381 47.58028 81.02794 84.5 48 20 84.52504 48.27294 80 84.60532 48.55214 80 84.74451 48.82081 80 84.93934 49.06066 80 85.17919 49.25549 80 85.44786 49.39468 80 85.72706 49.47496 80 86 49.5 80 86.27294 49.47496 80 86.55214 49.39468 80 86.82082 49.25549 80 87.06066 49.06066 80 87.2555 48.82081 80 87.39469 48.55214 80 87.47496 48.27294 80 87.5 48 20 87.47496 48.27294 20 87.39469 48.55214 20 87.2555 48.82081 20 87.06066 49.06066 20 86.82082 49.25549 20 86.55214 49.39468 20 86.27294 49.47496 20 86 49.5 20 85.72706 49.47496 20 85.44786 49.39468 20 85.17919 49.25549 20 84.93934 49.06066 20 84.74451 48.82081 20 84.60532 48.55214 20 84.52504 48.27294 20 84.53298 48.3128 50 84.63908 48.63078 50 84.82166 48.92817 50 85.07183 49.17834 50 85.36922 49.36092 50 85.6872 49.46702 50 86 49.5 50 86.31281 49.46702 50 86.55214 49.39468 50 86.78378 49.27894 50 86.9961 49.12151 50 87.17835 48.92817 50 87.32233 48.70814 50 87.42359 48.47266 50 87.48176 48.23322 50 76 48 8.5 78.09258 48 8.691988 80.23309 48 9.307435 82.29292 48 10.37455 84.13173 48 11.86827 85.62545 48 13.70709 86.69257 48 15.76691 87.30802 48 17.90743 87.47496 47.72705 20 87.39469 47.44786 20 87.2555 47.17918 20 87.06066 46.93934 20 86.82082 46.74451 20 86.55214 46.60531 20 86.27294 46.52504 20 86 46.5 20 85.72706 46.52504 20 85.44786 46.60531 20 85.17919 46.74451 20 84.93934 46.93934 20 84.74451 47.17918 20 84.60532 47.44786 20 84.52504 47.72705 20 84.3581 48 18.45331 83.9032 48 16.8712 83.11447 48 15.34872 82.01041 48 13.98959 80.65129 48 12.88554 79.12881 48 12.0968 77.54669 48 11.6419 76 48 11.5 76 47.72705 11.47496 76 47.44786 11.39468 76 47.17918 11.25549 76 46.93934 11.06066 76 46.74451 10.82081 76 46.60531 10.55214 76 46.52504 10.27294 76 46.5 10 76 46.52504 9.727056 76 46.60531 9.447858 76 46.74451 9.179185 76 46.93934 8.93934 76 47.17918 8.744507 76 47.44786 8.605318 76 47.72705 8.525042 76.38067 47.66073 11.46962 77.03204 47.79301 8.560811 76.51203 47.79301 8.52577 76.51 47.58028 8.571291 76.50646 47.36876 8.650584 76.5014 47.16639 8.764145 76.49489 46.98135 8.909967 76.48715 46.82101 9.083512 76.47846 46.69102 9.278152 76.46919 46.59468 9.485991 76.45381 46.51077 9.830661 76.88459 46.50806 10.1951 76.42352 46.58578 10.50944 76.85362 46.58578 10.53843 76.40864 46.75296 10.84272 76.39579 47.00429 11.13069 76.77851 47.31778 11.37093 76.76726 47.66073 11.49567 76.38625 47.31778 11.34449 76.43888 46.50806 10.16506 79.16037 47.79301 8.957709 79.14784 47.58028 9.001517 79.12599 47.36876 9.077824 79.09471 47.16639 9.18711 79.05455 46.98135 9.327444 79.00675 46.82101 9.494456 78.95314 46.69102 9.681768 78.8959 46.59468 9.881783 78.80097 46.51077 10.21348 78.70886 46.50806 10.53529 78.61401 46.58578 10.86671 78.52221 46.75296 11.18744 78.4429 47.00429 11.46457 78.38401 47.31778 11.67033 78.34954 47.66073 11.79074 77.55376 47.66073 11.60368 77.57655 47.31778 11.48052 77.6155 47.00429 11.27008 77.66795 46.75296 10.98663 77.72865 46.58578 10.6586 77.79138 46.50806 10.31963 77.85229 46.51077 9.990484 77.91506 46.59468 9.651229 77.95292 46.69102 9.446658 77.98838 46.82101 9.255076 78.01998 46.98135 9.084259 78.04655 47.16639 8.940729 78.06723 47.36876 8.828951 78.08168 47.58028 8.750905 78.08997 47.79301 8.706099 82.28506 47.79301 10.38656 82.26013 47.58028 10.4247 82.21669 47.36876 10.49114 82.15449 47.16639 10.58628 82.07462 46.98135 10.70845 81.97956 46.82101 10.85385 81.87294 46.69102 11.01693 81.7591 46.59468 11.19106 81.5703 46.51077 11.47984 81.38713 46.50806 11.76001 81.1985 46.58578 12.04854 81.01594 46.75296 12.32777 80.85821 47.00429 12.56904 80.74109 47.31778 12.74817 80.67256 47.66073 12.853 79.14311 47.66073 12.06066 79.18922 47.31778 11.9442 79.268 47.00429 11.74521 79.3741 46.75296 11.47719 79.49691 46.58578 11.16701 79.6238 46.50806 10.84649 79.747 46.51077 10.53526 79.874 46.59468 10.21447 79.95059 46.69102 10.02103 80.0223 46.82101 9.839876 80.08625 46.98135 9.678356 80.13998 47.16639 9.542637 80.18182 47.36876 9.436944 80.21104 47.58028 9.363145 80.22781 47.79301 9.320777 84.12158 47.79301 11.87842 84.08937 47.58028 11.91064 84.03324 47.36876 11.96676 83.95286 47.16639 12.04714 83.84964 46.98135 12.15036 83.72681 46.82101 12.2732 83.58904 46.69102 12.41096 83.44193 46.59468 12.55807 83.19797 46.51077 12.80204 82.96128 46.50806 13.03873 82.71752 46.58578 13.28249 82.48162 46.75296 13.51838 82.2778 47.00429 13.72221 82.12646 47.31778 13.87354 82.0379 47.66073 13.96211 85.61344 47.79301 13.71494 85.5753 47.58028 13.73987 85.50887 47.36876 13.78331 85.41372 47.16639 13.84551 85.29154 46.98135 13.92539 85.14614 46.82101 14.02045 84.98307 46.69102 14.12706 84.80894 46.59468 14.24091 84.52017 46.51077 14.4297 84.23999 46.50806 14.61287 83.95146 46.58578 14.80151 83.67224 46.75296 14.98406 83.43096 47.00429 15.14179 83.25183 47.31778 15.25891 83.147 47.66073 15.32745 86.67922 47.79301 15.77219 86.63686 47.58028 15.78897 86.56306 47.36876 15.81818 86.45737 47.16639 15.86003 86.32165 46.98135 15.91376 86.16013 46.82101 15.9777 85.97898 46.69102 16.04942 85.78553 46.59468 16.126 85.46475 46.51077 16.253 85.15351 46.50806 16.37621 84.833 46.58578 16.5031 84.52281 46.75296 16.6259 84.25479 47.00429 16.732 84.0558 47.31778 16.81078 83.93935 47.66073 16.85689 87.2939 47.79301 17.91004 87.24909 47.58028 17.91833 87.17105 47.36876 17.93277 87.05928 47.16639 17.95346 86.91574 46.98135 17.98002 86.74493 46.82101 18.01163 86.55335 46.69102 18.04708 86.34877 46.59468 18.08493 86.00952 46.51077 18.14772 85.68038 46.50806 18.20862 85.3414 46.58578 18.27135 85.01337 46.75296 18.33205 84.72993 47.00429 18.38451 84.51948 47.31778 18.42345 84.39632 47.66073 18.44624 77.15869 47.66073 11.54011 77.17568 47.31778 11.41602 77.20472 47.00429 11.20398 77.24384 46.75296 10.91839 77.28911 46.58578 10.58787 77.33589 46.50806 10.24633 77.38131 46.51077 9.914695 77.42813 46.59468 9.572873 77.45635 46.69102 9.366751 77.48279 46.82101 9.17372 77.50637 46.98135 9.001609 77.52617 47.16639 8.856991 77.5416 47.36876 8.744368 77.55237 47.58028 8.665731 77.55855 47.79301 8.620586 76.79774 47.00429 11.15777 76.82364 46.75296 10.87068 76.91468 46.51077 9.861718 76.94567 46.59468 9.518099 76.96437 46.69102 9.310895 76.98188 46.82101 9.11685 76.99748 46.98135 8.943836 77.0106 47.16639 8.798459 77.02082 47.36876 8.685244 77.02794 47.58028 8.606194 36.75 26.5 0 36.75 26.5 0.3 36.79174 26.04509 0.3 36.92553 25.57976 0.3 37.15751 25.13198 0.3 37.48223 24.73223 0.3 37.88198 24.40751 0.3 38.32976 24.17553 0.3 38.79509 24.04174 0.3 39.25 24 0.3 39.70491 24.04174 0.3 40.17024 24.17553 0.3 40.61802 24.40751 0.3 41.01777 24.73223 0.3 41.34249 25.13198 0.3 41.57447 25.57976 0.3 41.70826 26.04509 0.3 41.75 26.5 0.3 41.75 26.5 0 41.70826 26.04509 0 41.57447 25.57976 0 41.34249 25.13198 0 41.01777 24.73223 0 40.61802 24.40751 0 40.17024 24.17553 0 39.70491 24.04174 0 39.25 24 0 38.79509 24.04174 0 38.32976 24.17553 0 37.88198 24.40751 0 37.48223 24.73223 0 37.15751 25.13198 0 36.92553 25.57976 0 36.79174 26.04509 0 36.87736 25.71224 0.15 36.7804 26.1113 0.15 37.04613 25.31977 0.15 37.28609 24.95305 0.15 37.58984 24.63081 0.15 37.94371 24.36843 0.15 38.32976 24.17553 0.15 38.72866 24.05496 0.15 39.25 24 0.15 39.77134 24.05496 0.15 40.3013 24.23179 0.15 40.79695 24.53609 0.15 41.21391 24.95305 0.15 41.51821 25.4487 0.15 41.69504 25.97866 0.15 51.75 26.5 0 51.75 26.5 0.3 51.79174 26.04509 0.3 51.92553 25.57976 0.3 52.15751 25.13198 0.3 52.48223 24.73223 0.3 52.88198 24.40751 0.3 53.32976 24.17553 0.3 53.79509 24.04174 0.3 54.25 24 0.3 54.70491 24.04174 0.3 55.17024 24.17553 0.3 55.61802 24.40751 0.3 56.01777 24.73223 0.3 56.34249 25.13198 0.3 56.57447 25.57976 0.3 56.70826 26.04509 0.3 56.75 26.5 0.3 56.75 26.5 0 56.70826 26.04509 0 56.57447 25.57976 0 56.34249 25.13198 0 56.01777 24.73223 0 55.61802 24.40751 0 55.17024 24.17553 0 54.70491 24.04174 0 54.25 24 0 53.79509 24.04174 0 53.32976 24.17553 0 52.88198 24.40751 0 52.48223 24.73223 0 52.15751 25.13198 0 51.92553 25.57976 0 51.79174 26.04509 0 51.87736 25.71224 0.15 51.7804 26.1113 0.15 52.04613 25.31977 0.15 52.28609 24.95305 0.15 52.58984 24.63081 0.15 52.94371 24.36843 0.15 53.32976 24.17553 0.15 53.72866 24.05496 0.15 54.25 24 0.15 54.77134 24.05496 0.15 55.3013 24.23179 0.15 55.79695 24.53609 0.15 56.21391 24.95305 0.15 56.51821 25.4487 0.15 56.69504 25.97866 0.15 66.75 26.5 0 66.75 26.5 0.3 66.79174 26.04509 0.3 66.92553 25.57976 0.3 67.15751 25.13198 0.3 67.48223 24.73223 0.3 67.88198 24.40751 0.3 68.32977 24.17553 0.3 68.79509 24.04174 0.3 69.25 24 0.3 69.70491 24.04174 0.3 70.17024 24.17553 0.3 70.61803 24.40751 0.3 71.01777 24.73223 0.3 71.34249 25.13198 0.3 71.57447 25.57976 0.3 71.70827 26.04509 0.3 71.75 26.5 0.3 71.75 26.5 0 71.70827 26.04509 0 71.57447 25.57976 0 71.34249 25.13198 0 71.01777 24.73223 0 70.61803 24.40751 0 70.17024 24.17553 0 69.70491 24.04174 0 69.25 24 0 68.79509 24.04174 0 68.32977 24.17553 0 67.88198 24.40751 0 67.48223 24.73223 0 67.15751 25.13198 0 66.92553 25.57976 0 66.79174 26.04509 0 66.87736 25.71224 0.15 66.78041 26.1113 0.15 67.04613 25.31977 0.15 67.28609 24.95305 0.15 67.58984 24.63081 0.15 67.94371 24.36843 0.15 68.32977 24.17553 0.15 68.72866 24.05496 0.15 69.25 24 0.15 69.77134 24.05496 0.15 70.3013 24.23179 0.15 70.79695 24.53609 0.15 71.21392 24.95305 0.15 71.51821 25.4487 0.15 71.69504 25.97866 0.15 36.75 34.5 0 36.75 34.5 0.3 36.79174 34.04509 0.3 36.92553 33.57976 0.3 37.15751 33.13198 0.3 37.48223 32.73223 0.3 37.88198 32.40751 0.3 38.32976 32.17553 0.3 38.79509 32.04174 0.3 39.25 32 0.3 39.70491 32.04174 0.3 40.17024 32.17553 0.3 40.61802 32.40751 0.3 41.01777 32.73223 0.3 41.34249 33.13198 0.3 41.57447 33.57976 0.3 41.70826 34.04509 0.3 41.75 34.5 0.3 41.75 34.5 0 41.70826 34.04509 0 41.57447 33.57976 0 41.34249 33.13198 0 41.01777 32.73223 0 40.61802 32.40751 0 40.17024 32.17553 0 39.70491 32.04174 0 39.25 32 0 38.79509 32.04174 0 38.32976 32.17553 0 37.88198 32.40751 0 37.48223 32.73223 0 37.15751 33.13198 0 36.92553 33.57976 0 36.79174 34.04509 0 36.87736 33.71224 0.15 36.7804 34.1113 0.15 37.04613 33.31977 0.15 37.28609 32.95305 0.15 37.58984 32.63081 0.15 37.94371 32.36843 0.15 38.32976 32.17553 0.15 38.72866 32.05496 0.15 39.25 32 0.15 39.77134 32.05496 0.15 40.3013 32.23179 0.15 40.79695 32.53609 0.15 41.21391 32.95305 0.15 41.51821 33.4487 0.15 41.69504 33.97866 0.15 51.75 34.5 0 51.75 34.5 0.3 51.79174 34.04509 0.3 51.92553 33.57976 0.3 52.15751 33.13198 0.3 52.48223 32.73223 0.3 52.88198 32.40751 0.3 53.32976 32.17553 0.3 53.79509 32.04174 0.3 54.25 32 0.3 54.70491 32.04174 0.3 55.17024 32.17553 0.3 55.61802 32.40751 0.3 56.01777 32.73223 0.3 56.34249 33.13198 0.3 56.57447 33.57976 0.3 56.70826 34.04509 0.3 56.75 34.5 0.3 56.75 34.5 0 56.70826 34.04509 0 56.57447 33.57976 0 56.34249 33.13198 0 56.01777 32.73223 0 55.61802 32.40751 0 55.17024 32.17553 0 54.70491 32.04174 0 54.25 32 0 53.79509 32.04174 0 53.32976 32.17553 0 52.88198 32.40751 0 52.48223 32.73223 0 52.15751 33.13198 0 51.92553 33.57976 0 51.79174 34.04509 0 51.87736 33.71224 0.15 51.7804 34.1113 0.15 52.04613 33.31977 0.15 52.28609 32.95305 0.15 52.58984 32.63081 0.15 52.94371 32.36843 0.15 53.32976 32.17553 0.15 53.72866 32.05496 0.15 54.25 32 0.15 54.77134 32.05496 0.15 55.3013 32.23179 0.15 55.79695 32.53609 0.15 56.21391 32.95305 0.15 56.51821 33.4487 0.15 56.69504 33.97866 0.15 66.75 34.5 0 66.75 34.5 0.3 66.79174 34.04509 0.3 66.92553 33.57976 0.3 67.15751 33.13198 0.3 67.48223 32.73223 0.3 67.88198 32.40751 0.3 68.32977 32.17553 0.3 68.79509 32.04174 0.3 69.25 32 0.3 69.70491 32.04174 0.3 70.17024 32.17553 0.3 70.61803 32.40751 0.3 71.01777 32.73223 0.3 71.34249 33.13198 0.3 71.57447 33.57976 0.3 71.70827 34.04509 0.3 71.75 34.5 0.3 71.75 34.5 0 71.70827 34.04509 0 71.57447 33.57976 0 71.34249 33.13198 0 71.01777 32.73223 0 70.61803 32.40751 0 70.17024 32.17553 0 69.70491 32.04174 0 69.25 32 0 68.79509 32.04174 0 68.32977 32.17553 0 67.88198 32.40751 0 67.48223 32.73223 0 67.15751 33.13198 0 66.92553 33.57976 0 66.79174 34.04509 0 66.87736 33.71224 0.15 66.78041 34.1113 0.15 67.04613 33.31977 0.15 67.28609 32.95305 0.15 67.58984 32.63081 0.15 67.94371 32.36843 0.15 68.32977 32.17553 0.15 68.72866 32.05496 0.15 69.25 32 0.15 69.77134 32.05496 0.15 70.3013 32.23179 0.15 70.79695 32.53609 0.15 71.21392 32.95305 0.15 71.51821 33.4487 0.15 71.69504 33.97866 0.15 29.25 42.5 0 29.25 42.5 0.3 29.29174 42.04509 0.3 29.42553 41.57976 0.3 29.65751 41.13198 0.3 29.98223 40.73223 0.3 30.38198 40.40751 0.3 30.82976 40.17553 0.3 31.29509 40.04174 0.3 31.75 40 0.3 32.20491 40.04174 0.3 32.67024 40.17553 0.3 33.11802 40.40751 0.3 33.51777 40.73223 0.3 33.84249 41.13198 0.3 34.07447 41.57976 0.3 34.20826 42.04509 0.3 34.25 42.5 0.3 34.25 42.5 0 34.20826 42.04509 0 34.07447 41.57976 0 33.84249 41.13198 0 33.51777 40.73223 0 33.11802 40.40751 0 32.67024 40.17553 0 32.20491 40.04174 0 31.75 40 0 31.29509 40.04174 0 30.82976 40.17553 0 30.38198 40.40751 0 29.98223 40.73223 0 29.65751 41.13198 0 29.42553 41.57976 0 29.29174 42.04509 0 29.37736 41.71224 0.15 29.2804 42.1113 0.15 29.54613 41.31977 0.15 29.78609 40.95305 0.15 30.08984 40.63081 0.15 30.44371 40.36843 0.15 30.82976 40.17553 0.15 31.22866 40.05496 0.15 31.75 40 0.15 32.27134 40.05496 0.15 32.8013 40.23179 0.15 33.29695 40.53609 0.15 33.71391 40.95305 0.15 34.01821 41.4487 0.15 34.19504 41.97866 0.15 36.75 42.5 0 36.75 42.5 0.3 36.79174 42.04509 0.3 36.92553 41.57976 0.3 37.15751 41.13198 0.3 37.48223 40.73223 0.3 37.88198 40.40751 0.3 38.32976 40.17553 0.3 38.79509 40.04174 0.3 39.25 40 0.3 39.70491 40.04174 0.3 40.17024 40.17553 0.3 40.61802 40.40751 0.3 41.01777 40.73223 0.3 41.34249 41.13198 0.3 41.57447 41.57976 0.3 41.70826 42.04509 0.3 41.75 42.5 0.3 41.75 42.5 0 41.70826 42.04509 0 41.57447 41.57976 0 41.34249 41.13198 0 41.01777 40.73223 0 40.61802 40.40751 0 40.17024 40.17553 0 39.70491 40.04174 0 39.25 40 0 38.79509 40.04174 0 38.32976 40.17553 0 37.88198 40.40751 0 37.48223 40.73223 0 37.15751 41.13198 0 36.92553 41.57976 0 36.79174 42.04509 0 36.87736 41.71224 0.15 36.7804 42.1113 0.15 37.04613 41.31977 0.15 37.28609 40.95305 0.15 37.58984 40.63081 0.15 37.94371 40.36843 0.15 38.32976 40.17553 0.15 38.72866 40.05496 0.15 39.25 40 0.15 39.77134 40.05496 0.15 40.3013 40.23179 0.15 40.79695 40.53609 0.15 41.21391 40.95305 0.15 41.51821 41.4487 0.15 41.69504 41.97866 0.15 44.25 42.5 0 44.25 42.5 0.3 44.29174 42.04509 0.3 44.42553 41.57976 0.3 44.65751 41.13198 0.3 44.98223 40.73223 0.3 45.38198 40.40751 0.3 45.82976 40.17553 0.3 46.29509 40.04174 0.3 46.75 40 0.3 47.20491 40.04174 0.3 47.67024 40.17553 0.3 48.11802 40.40751 0.3 48.51777 40.73223 0.3 48.84249 41.13198 0.3 49.07447 41.57976 0.3 49.20826 42.04509 0.3 49.25 42.5 0.3 49.25 42.5 0 49.20826 42.04509 0 49.07447 41.57976 0 48.84249 41.13198 0 48.51777 40.73223 0 48.11802 40.40751 0 47.67024 40.17553 0 47.20491 40.04174 0 46.75 40 0 46.29509 40.04174 0 45.82976 40.17553 0 45.38198 40.40751 0 44.98223 40.73223 0 44.65751 41.13198 0 44.42553 41.57976 0 44.29174 42.04509 0 44.37736 41.71224 0.15 44.2804 42.1113 0.15 44.54613 41.31977 0.15 44.78609 40.95305 0.15 45.08984 40.63081 0.15 45.44371 40.36843 0.15 45.82976 40.17553 0.15 46.22866 40.05496 0.15 46.75 40 0.15 47.27134 40.05496 0.15 47.8013 40.23179 0.15 48.29695 40.53609 0.15 48.71391 40.95305 0.15 49.01821 41.4487 0.15 49.19504 41.97866 0.15 51.75 42.5 0 51.75 42.5 0.3 51.79174 42.04509 0.3 51.92553 41.57976 0.3 52.15751 41.13198 0.3 52.48223 40.73223 0.3 52.88198 40.40751 0.3 53.32976 40.17553 0.3 53.79509 40.04174 0.3 54.25 40 0.3 54.70491 40.04174 0.3 55.17024 40.17553 0.3 55.61802 40.40751 0.3 56.01777 40.73223 0.3 56.34249 41.13198 0.3 56.57447 41.57976 0.3 56.70826 42.04509 0.3 56.75 42.5 0.3 56.75 42.5 0 56.70826 42.04509 0 56.57447 41.57976 0 56.34249 41.13198 0 56.01777 40.73223 0 55.61802 40.40751 0 55.17024 40.17553 0 54.70491 40.04174 0 54.25 40 0 53.79509 40.04174 0 53.32976 40.17553 0 52.88198 40.40751 0 52.48223 40.73223 0 52.15751 41.13198 0 51.92553 41.57976 0 51.79174 42.04509 0 51.87736 41.71224 0.15 51.7804 42.1113 0.15 52.04613 41.31977 0.15 52.28609 40.95305 0.15 52.58984 40.63081 0.15 52.94371 40.36843 0.15 53.32976 40.17553 0.15 53.72866 40.05496 0.15 54.25 40 0.15 54.77134 40.05496 0.15 55.3013 40.23179 0.15 55.79695 40.53609 0.15 56.21391 40.95305 0.15 56.51821 41.4487 0.15 56.69504 41.97866 0.15 59.25 42.5 0 59.25 42.5 0.3 59.29174 42.04509 0.3 59.42553 41.57976 0.3 59.65751 41.13198 0.3 59.98223 40.73223 0.3 60.38198 40.40751 0.3 60.82976 40.17553 0.3 61.29509 40.04174 0.3 61.75 40 0.3 62.20491 40.04174 0.3 62.67024 40.17553 0.3 63.11802 40.40751 0.3 63.51777 40.73223 0.3 63.84249 41.13198 0.3 64.07447 41.57976 0.3 64.20827 42.04509 0.3 64.25 42.5 0.3 64.25 42.5 0 64.20827 42.04509 0 64.07447 41.57976 0 63.84249 41.13198 0 63.51777 40.73223 0 63.11802 40.40751 0 62.67024 40.17553 0 62.20491 40.04174 0 61.75 40 0 61.29509 40.04174 0 60.82976 40.17553 0 60.38198 40.40751 0 59.98223 40.73223 0 59.65751 41.13198 0 59.42553 41.57976 0 59.29174 42.04509 0 59.37736 41.71224 0.15 59.2804 42.1113 0.15 59.54613 41.31977 0.15 59.78609 40.95305 0.15 60.08984 40.63081 0.15 60.44371 40.36843 0.15 60.82976 40.17553 0.15 61.22866 40.05496 0.15 61.75 40 0.15 62.27134 40.05496 0.15 62.8013 40.23179 0.15 63.29695 40.53609 0.15 63.71391 40.95305 0.15 64.01821 41.4487 0.15 64.19504 41.97866 0.15 66.75 42.5 0 66.75 42.5 0.3 66.79174 42.04509 0.3 66.92553 41.57976 0.3 67.15751 41.13198 0.3 67.48223 40.73223 0.3 67.88198 40.40751 0.3 68.32977 40.17553 0.3 68.79509 40.04174 0.3 69.25 40 0.3 69.70491 40.04174 0.3 70.17024 40.17553 0.3 70.61803 40.40751 0.3 71.01777 40.73223 0.3 71.34249 41.13198 0.3 71.57447 41.57976 0.3 71.70827 42.04509 0.3 71.75 42.5 0.3 71.75 42.5 0 71.70827 42.04509 0 71.57447 41.57976 0 71.34249 41.13198 0 71.01777 40.73223 0 70.61803 40.40751 0 70.17024 40.17553 0 69.70491 40.04174 0 69.25 40 0 68.79509 40.04174 0 68.32977 40.17553 0 67.88198 40.40751 0 67.48223 40.73223 0 67.15751 41.13198 0 66.92553 41.57976 0 66.79174 42.04509 0 66.87736 41.71224 0.15 66.78041 42.1113 0.15 67.04613 41.31977 0.15 67.28609 40.95305 0.15 67.58984 40.63081 0.15 67.94371 40.36843 0.15 68.32977 40.17553 0.15 68.72866 40.05496 0.15 69.25 40 0.15 69.77134 40.05496 0.15 70.3013 40.23179 0.15 70.79695 40.53609 0.15 71.21392 40.95305 0.15 71.51821 41.4487 0.15 71.69504 41.97866 0.15 59.25 34.5 0 59.25 34.5 0.3 59.29174 34.04509 0.3 59.42553 33.57976 0.3 59.65751 33.13198 0.3 59.98223 32.73223 0.3 60.38198 32.40751 0.3 60.82976 32.17553 0.3 61.29509 32.04174 0.3 61.75 32 0.3 62.20491 32.04174 0.3 62.67024 32.17553 0.3 63.11802 32.40751 0.3 63.51777 32.73223 0.3 63.84249 33.13198 0.3 64.07447 33.57976 0.3 64.20827 34.04509 0.3 64.25 34.5 0.3 64.25 34.5 0 64.20827 34.04509 0 64.07447 33.57976 0 63.84249 33.13198 0 63.51777 32.73223 0 63.11802 32.40751 0 62.67024 32.17553 0 62.20491 32.04174 0 61.75 32 0 61.29509 32.04174 0 60.82976 32.17553 0 60.38198 32.40751 0 59.98223 32.73223 0 59.65751 33.13198 0 59.42553 33.57976 0 59.29174 34.04509 0 59.37736 33.71224 0.15 59.2804 34.1113 0.15 59.54613 33.31977 0.15 59.78609 32.95305 0.15 60.08984 32.63081 0.15 60.44371 32.36843 0.15 60.82976 32.17553 0.15 61.22866 32.05496 0.15 61.75 32 0.15 62.27134 32.05496 0.15 62.8013 32.23179 0.15 63.29695 32.53609 0.15 63.71391 32.95305 0.15 64.01821 33.4487 0.15 64.19504 33.97866 0.15 44.25 34.5 0 44.25 34.5 0.3 44.29174 34.04509 0.3 44.42553 33.57976 0.3 44.65751 33.13198 0.3 44.98223 32.73223 0.3 45.38198 32.40751 0.3 45.82976 32.17553 0.3 46.29509 32.04174 0.3 46.75 32 0.3 47.20491 32.04174 0.3 47.67024 32.17553 0.3 48.11802 32.40751 0.3 48.51777 32.73223 0.3 48.84249 33.13198 0.3 49.07447 33.57976 0.3 49.20826 34.04509 0.3 49.25 34.5 0.3 49.25 34.5 0 49.20826 34.04509 0 49.07447 33.57976 0 48.84249 33.13198 0 48.51777 32.73223 0 48.11802 32.40751 0 47.67024 32.17553 0 47.20491 32.04174 0 46.75 32 0 46.29509 32.04174 0 45.82976 32.17553 0 45.38198 32.40751 0 44.98223 32.73223 0 44.65751 33.13198 0 44.42553 33.57976 0 44.29174 34.04509 0 44.37736 33.71224 0.15 44.2804 34.1113 0.15 44.54613 33.31977 0.15 44.78609 32.95305 0.15 45.08984 32.63081 0.15 45.44371 32.36843 0.15 45.82976 32.17553 0.15 46.22866 32.05496 0.15 46.75 32 0.15 47.27134 32.05496 0.15 47.8013 32.23179 0.15 48.29695 32.53609 0.15 48.71391 32.95305 0.15 49.01821 33.4487 0.15 49.19504 33.97866 0.15 29.25 34.5 0 29.25 34.5 0.3 29.29174 34.04509 0.3 29.42553 33.57976 0.3 29.65751 33.13198 0.3 29.98223 32.73223 0.3 30.38198 32.40751 0.3 30.82976 32.17553 0.3 31.29509 32.04174 0.3 31.75 32 0.3 32.20491 32.04174 0.3 32.67024 32.17553 0.3 33.11802 32.40751 0.3 33.51777 32.73223 0.3 33.84249 33.13198 0.3 34.07447 33.57976 0.3 34.20826 34.04509 0.3 34.25 34.5 0.3 34.25 34.5 0 34.20826 34.04509 0 34.07447 33.57976 0 33.84249 33.13198 0 33.51777 32.73223 0 33.11802 32.40751 0 32.67024 32.17553 0 32.20491 32.04174 0 31.75 32 0 31.29509 32.04174 0 30.82976 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33.84249 27.86803 0.3 33.51777 28.26777 0.3 33.11802 28.59249 0.3 32.67024 28.82447 0.3 32.20491 28.95826 0.3 31.75 29 0.3 31.29509 28.95826 0.3 30.82976 28.82447 0.3 30.38198 28.59249 0.3 29.98223 28.26777 0.3 29.65751 27.86803 0.3 29.42553 27.42024 0.3 29.29174 26.95491 0.3 29.30496 27.02134 0.15 29.48179 27.5513 0.15 29.78609 28.04695 0.15 30.20305 28.46391 0.15 30.6987 28.76821 0.15 31.22866 28.94504 0.15 31.75 29 0.15 32.27134 28.94504 0.15 32.67024 28.82447 0.15 33.05629 28.63157 0.15 33.41016 28.36919 0.15 33.71391 28.04695 0.15 33.95387 27.68023 0.15 34.12264 27.28776 0.15 34.2196 26.8887 0.15 44.29174 26.95491 0 44.42553 27.42024 0 44.65751 27.86803 0 44.98223 28.26777 0 45.38198 28.59249 0 45.82976 28.82447 0 46.29509 28.95826 0 46.75 29 0 47.20491 28.95826 0 47.67024 28.82447 0 48.11802 28.59249 0 48.51777 28.26777 0 48.84249 27.86803 0 49.07447 27.42024 0 49.20826 26.95491 0 49.20826 26.95491 0.3 49.07447 27.42024 0.3 48.84249 27.86803 0.3 48.51777 28.26777 0.3 48.11802 28.59249 0.3 47.67024 28.82447 0.3 47.20491 28.95826 0.3 46.75 29 0.3 46.29509 28.95826 0.3 45.82976 28.82447 0.3 45.38198 28.59249 0.3 44.98223 28.26777 0.3 44.65751 27.86803 0.3 44.42553 27.42024 0.3 44.29174 26.95491 0.3 44.30496 27.02134 0.15 44.48179 27.5513 0.15 44.78609 28.04695 0.15 45.20305 28.46391 0.15 45.6987 28.76821 0.15 46.22866 28.94504 0.15 46.75 29 0.15 47.27134 28.94504 0.15 47.67024 28.82447 0.15 48.05629 28.63157 0.15 48.41016 28.36919 0.15 48.71391 28.04695 0.15 48.95387 27.68023 0.15 49.12264 27.28776 0.15 49.2196 26.8887 0.15 59.29174 26.95491 0 59.42553 27.42024 0 59.65751 27.86803 0 59.98223 28.26777 0 60.38198 28.59249 0 60.82976 28.82447 0 61.29509 28.95826 0 61.75 29 0 62.20491 28.95826 0 62.67024 28.82447 0 63.11802 28.59249 0 63.51777 28.26777 0 63.84249 27.86803 0 64.07447 27.42024 0 64.20827 26.95491 0 64.20827 26.95491 0.3 64.07447 27.42024 0.3 63.84249 27.86803 0.3 63.51777 28.26777 0.3 63.11802 28.59249 0.3 62.67024 28.82447 0.3 62.20491 28.95826 0.3 61.75 29 0.3 61.29509 28.95826 0.3 60.82976 28.82447 0.3 60.38198 28.59249 0.3 59.98223 28.26777 0.3 59.65751 27.86803 0.3 59.42553 27.42024 0.3 59.29174 26.95491 0.3 59.30496 27.02134 0.15 59.48179 27.5513 0.15 59.78609 28.04695 0.15 60.20305 28.46391 0.15 60.6987 28.76821 0.15 61.22866 28.94504 0.15 61.75 29 0.15 62.27134 28.94504 0.15 62.67024 28.82447 0.15 63.05629 28.63157 0.15 63.41016 28.36919 0.15 63.71391 28.04695 0.15 63.95387 27.68023 0.15 64.12265 27.28776 0.15 64.2196 26.8887 0.15 29.29174 34.95491 0 29.42553 35.42024 0 29.65751 35.86802 0 29.98223 36.26777 0 30.38198 36.59249 0 30.82976 36.82447 0 31.29509 36.95826 0 31.75 37 0 32.20491 36.95826 0 32.67024 36.82447 0 33.11802 36.59249 0 33.51777 36.26777 0 33.84249 35.86802 0 34.07447 35.42024 0 34.20826 34.95491 0 34.20826 34.95491 0.3 34.07447 35.42024 0.3 33.84249 35.86802 0.3 33.51777 36.26777 0.3 33.11802 36.59249 0.3 32.67024 36.82447 0.3 32.20491 36.95826 0.3 31.75 37 0.3 31.29509 36.95826 0.3 30.82976 36.82447 0.3 30.38198 36.59249 0.3 29.98223 36.26777 0.3 29.65751 35.86802 0.3 29.42553 35.42024 0.3 29.29174 34.95491 0.3 29.30496 35.02134 0.15 29.48179 35.5513 0.15 29.78609 36.04695 0.15 30.20305 36.46391 0.15 30.6987 36.76821 0.15 31.22866 36.94504 0.15 31.75 37 0.15 32.27134 36.94504 0.15 32.67024 36.82447 0.15 33.05629 36.63157 0.15 33.41016 36.36919 0.15 33.71391 36.04695 0.15 33.95387 35.68023 0.15 34.12264 35.28776 0.15 34.2196 34.8887 0.15 44.29174 34.95491 0 44.42553 35.42024 0 44.65751 35.86802 0 44.98223 36.26777 0 45.38198 36.59249 0 45.82976 36.82447 0 46.29509 36.95826 0 46.75 37 0 47.20491 36.95826 0 47.67024 36.82447 0 48.11802 36.59249 0 48.51777 36.26777 0 48.84249 35.86802 0 49.07447 35.42024 0 49.20826 34.95491 0 49.20826 34.95491 0.3 49.07447 35.42024 0.3 48.84249 35.86802 0.3 48.51777 36.26777 0.3 48.11802 36.59249 0.3 47.67024 36.82447 0.3 47.20491 36.95826 0.3 46.75 37 0.3 46.29509 36.95826 0.3 45.82976 36.82447 0.3 45.38198 36.59249 0.3 44.98223 36.26777 0.3 44.65751 35.86802 0.3 44.42553 35.42024 0.3 44.29174 34.95491 0.3 44.30496 35.02134 0.15 44.48179 35.5513 0.15 44.78609 36.04695 0.15 45.20305 36.46391 0.15 45.6987 36.76821 0.15 46.22866 36.94504 0.15 46.75 37 0.15 47.27134 36.94504 0.15 47.67024 36.82447 0.15 48.05629 36.63157 0.15 48.41016 36.36919 0.15 48.71391 36.04695 0.15 48.95387 35.68023 0.15 49.12264 35.28776 0.15 49.2196 34.8887 0.15 59.29174 34.95491 0 59.42553 35.42024 0 59.65751 35.86802 0 59.98223 36.26777 0 60.38198 36.59249 0 60.82976 36.82447 0 61.29509 36.95826 0 61.75 37 0 62.20491 36.95826 0 62.67024 36.82447 0 63.11802 36.59249 0 63.51777 36.26777 0 63.84249 35.86802 0 64.07447 35.42024 0 64.20827 34.95491 0 64.20827 34.95491 0.3 64.07447 35.42024 0.3 63.84249 35.86802 0.3 63.51777 36.26777 0.3 63.11802 36.59249 0.3 62.67024 36.82447 0.3 62.20491 36.95826 0.3 61.75 37 0.3 61.29509 36.95826 0.3 60.82976 36.82447 0.3 60.38198 36.59249 0.3 59.98223 36.26777 0.3 59.65751 35.86802 0.3 59.42553 35.42024 0.3 59.29174 34.95491 0.3 59.30496 35.02134 0.15 59.48179 35.5513 0.15 59.78609 36.04695 0.15 60.20305 36.46391 0.15 60.6987 36.76821 0.15 61.22866 36.94504 0.15 61.75 37 0.15 62.27134 36.94504 0.15 62.67024 36.82447 0.15 63.05629 36.63157 0.15 63.41016 36.36919 0.15 63.71391 36.04695 0.15 63.95387 35.68023 0.15 64.12265 35.28776 0.15 64.2196 34.8887 0.15 66.79174 42.95491 0 66.92553 43.42024 0 67.15751 43.86802 0 67.48223 44.26777 0 67.88198 44.59249 0 68.32977 44.82447 0 68.79509 44.95826 0 69.25 45 0 69.70491 44.95826 0 70.17024 44.82447 0 70.61803 44.59249 0 71.01777 44.26777 0 71.34249 43.86802 0 71.57447 43.42024 0 71.70827 42.95491 0 71.70827 42.95491 0.3 71.57447 43.42024 0.3 71.34249 43.86802 0.3 71.01777 44.26777 0.3 70.61803 44.59249 0.3 70.17024 44.82447 0.3 69.70491 44.95826 0.3 69.25 45 0.3 68.79509 44.95826 0.3 68.32977 44.82447 0.3 67.88198 44.59249 0.3 67.48223 44.26777 0.3 67.15751 43.86802 0.3 66.92553 43.42024 0.3 66.79174 42.95491 0.3 66.80496 43.02134 0.15 66.98179 43.5513 0.15 67.28609 44.04695 0.15 67.70305 44.46391 0.15 68.1987 44.76821 0.15 68.72866 44.94504 0.15 69.25 45 0.15 69.77134 44.94504 0.15 70.17024 44.82447 0.15 70.55629 44.63157 0.15 70.91017 44.36919 0.15 71.21392 44.04695 0.15 71.45388 43.68023 0.15 71.62265 43.28776 0.15 71.7196 42.8887 0.15 59.29174 42.95491 0 59.42553 43.42024 0 59.65751 43.86802 0 59.98223 44.26777 0 60.38198 44.59249 0 60.82976 44.82447 0 61.29509 44.95826 0 61.75 45 0 62.20491 44.95826 0 62.67024 44.82447 0 63.11802 44.59249 0 63.51777 44.26777 0 63.84249 43.86802 0 64.07447 43.42024 0 64.20827 42.95491 0 64.20827 42.95491 0.3 64.07447 43.42024 0.3 63.84249 43.86802 0.3 63.51777 44.26777 0.3 63.11802 44.59249 0.3 62.67024 44.82447 0.3 62.20491 44.95826 0.3 61.75 45 0.3 61.29509 44.95826 0.3 60.82976 44.82447 0.3 60.38198 44.59249 0.3 59.98223 44.26777 0.3 59.65751 43.86802 0.3 59.42553 43.42024 0.3 59.29174 42.95491 0.3 59.30496 43.02134 0.15 59.48179 43.5513 0.15 59.78609 44.04695 0.15 60.20305 44.46391 0.15 60.6987 44.76821 0.15 61.22866 44.94504 0.15 61.75 45 0.15 62.27134 44.94504 0.15 62.67024 44.82447 0.15 63.05629 44.63157 0.15 63.41016 44.36919 0.15 63.71391 44.04695 0.15 63.95387 43.68023 0.15 64.12265 43.28776 0.15 64.2196 42.8887 0.15 51.79174 42.95491 0 51.92553 43.42024 0 52.15751 43.86802 0 52.48223 44.26777 0 52.88198 44.59249 0 53.32976 44.82447 0 53.79509 44.95826 0 54.25 45 0 54.70491 44.95826 0 55.17024 44.82447 0 55.61802 44.59249 0 56.01777 44.26777 0 56.34249 43.86802 0 56.57447 43.42024 0 56.70826 42.95491 0 56.70826 42.95491 0.3 56.57447 43.42024 0.3 56.34249 43.86802 0.3 56.01777 44.26777 0.3 55.61802 44.59249 0.3 55.17024 44.82447 0.3 54.70491 44.95826 0.3 54.25 45 0.3 53.79509 44.95826 0.3 53.32976 44.82447 0.3 52.88198 44.59249 0.3 52.48223 44.26777 0.3 52.15751 43.86802 0.3 51.92553 43.42024 0.3 51.79174 42.95491 0.3 51.80496 43.02134 0.15 51.98179 43.5513 0.15 52.28609 44.04695 0.15 52.70305 44.46391 0.15 53.1987 44.76821 0.15 53.72866 44.94504 0.15 54.25 45 0.15 54.77134 44.94504 0.15 55.17024 44.82447 0.15 55.55629 44.63157 0.15 55.91016 44.36919 0.15 56.21391 44.04695 0.15 56.45387 43.68023 0.15 56.62264 43.28776 0.15 56.7196 42.8887 0.15 44.29174 42.95491 0 44.42553 43.42024 0 44.65751 43.86802 0 44.98223 44.26777 0 45.38198 44.59249 0 45.82976 44.82447 0 46.29509 44.95826 0 46.75 45 0 47.20491 44.95826 0 47.67024 44.82447 0 48.11802 44.59249 0 48.51777 44.26777 0 48.84249 43.86802 0 49.07447 43.42024 0 49.20826 42.95491 0 49.20826 42.95491 0.3 49.07447 43.42024 0.3 48.84249 43.86802 0.3 48.51777 44.26777 0.3 48.11802 44.59249 0.3 47.67024 44.82447 0.3 47.20491 44.95826 0.3 46.75 45 0.3 46.29509 44.95826 0.3 45.82976 44.82447 0.3 45.38198 44.59249 0.3 44.98223 44.26777 0.3 44.65751 43.86802 0.3 44.42553 43.42024 0.3 44.29174 42.95491 0.3 44.30496 43.02134 0.15 44.48179 43.5513 0.15 44.78609 44.04695 0.15 45.20305 44.46391 0.15 45.6987 44.76821 0.15 46.22866 44.94504 0.15 46.75 45 0.15 47.27134 44.94504 0.15 47.67024 44.82447 0.15 48.05629 44.63157 0.15 48.41016 44.36919 0.15 48.71391 44.04695 0.15 48.95387 43.68023 0.15 49.12264 43.28776 0.15 49.2196 42.8887 0.15 36.79174 42.95491 0 36.92553 43.42024 0 37.15751 43.86802 0 37.48223 44.26777 0 37.88198 44.59249 0 38.32976 44.82447 0 38.79509 44.95826 0 39.25 45 0 39.70491 44.95826 0 40.17024 44.82447 0 40.61802 44.59249 0 41.01777 44.26777 0 41.34249 43.86802 0 41.57447 43.42024 0 41.70826 42.95491 0 41.70826 42.95491 0.3 41.57447 43.42024 0.3 41.34249 43.86802 0.3 41.01777 44.26777 0.3 40.61802 44.59249 0.3 40.17024 44.82447 0.3 39.70491 44.95826 0.3 39.25 45 0.3 38.79509 44.95826 0.3 38.32976 44.82447 0.3 37.88198 44.59249 0.3 37.48223 44.26777 0.3 37.15751 43.86802 0.3 36.92553 43.42024 0.3 36.79174 42.95491 0.3 36.80496 43.02134 0.15 36.98179 43.5513 0.15 37.28609 44.04695 0.15 37.70305 44.46391 0.15 38.1987 44.76821 0.15 38.72866 44.94504 0.15 39.25 45 0.15 39.77134 44.94504 0.15 40.17024 44.82447 0.15 40.55629 44.63157 0.15 40.91016 44.36919 0.15 41.21391 44.04695 0.15 41.45387 43.68023 0.15 41.62264 43.28776 0.15 41.7196 42.8887 0.15 29.29174 42.95491 0 29.42553 43.42024 0 29.65751 43.86802 0 29.98223 44.26777 0 30.38198 44.59249 0 30.82976 44.82447 0 31.29509 44.95826 0 31.75 45 0 32.20491 44.95826 0 32.67024 44.82447 0 33.11802 44.59249 0 33.51777 44.26777 0 33.84249 43.86802 0 34.07447 43.42024 0 34.20826 42.95491 0 34.20826 42.95491 0.3 34.07447 43.42024 0.3 33.84249 43.86802 0.3 33.51777 44.26777 0.3 33.11802 44.59249 0.3 32.67024 44.82447 0.3 32.20491 44.95826 0.3 31.75 45 0.3 31.29509 44.95826 0.3 30.82976 44.82447 0.3 30.38198 44.59249 0.3 29.98223 44.26777 0.3 29.65751 43.86802 0.3 29.42553 43.42024 0.3 29.29174 42.95491 0.3 29.30496 43.02134 0.15 29.48179 43.5513 0.15 29.78609 44.04695 0.15 30.20305 44.46391 0.15 30.6987 44.76821 0.15 31.22866 44.94504 0.15 31.75 45 0.15 32.27134 44.94504 0.15 32.67024 44.82447 0.15 33.05629 44.63157 0.15 33.41016 44.36919 0.15 33.71391 44.04695 0.15 33.95387 43.68023 0.15 34.12264 43.28776 0.15 34.2196 42.8887 0.15 66.79174 34.95491 0 66.92553 35.42024 0 67.15751 35.86802 0 67.48223 36.26777 0 67.88198 36.59249 0 68.32977 36.82447 0 68.79509 36.95826 0 69.25 37 0 69.70491 36.95826 0 70.17024 36.82447 0 70.61803 36.59249 0 71.01777 36.26777 0 71.34249 35.86802 0 71.57447 35.42024 0 71.70827 34.95491 0 71.70827 34.95491 0.3 71.57447 35.42024 0.3 71.34249 35.86802 0.3 71.01777 36.26777 0.3 70.61803 36.59249 0.3 70.17024 36.82447 0.3 69.70491 36.95826 0.3 69.25 37 0.3 68.79509 36.95826 0.3 68.32977 36.82447 0.3 67.88198 36.59249 0.3 67.48223 36.26777 0.3 67.15751 35.86802 0.3 66.92553 35.42024 0.3 66.79174 34.95491 0.3 66.80496 35.02134 0.15 66.98179 35.5513 0.15 67.28609 36.04695 0.15 67.70305 36.46391 0.15 68.1987 36.76821 0.15 68.72866 36.94504 0.15 69.25 37 0.15 69.77134 36.94504 0.15 70.17024 36.82447 0.15 70.55629 36.63157 0.15 70.91017 36.36919 0.15 71.21392 36.04695 0.15 71.45388 35.68023 0.15 71.62265 35.28776 0.15 71.7196 34.8887 0.15 51.79174 34.95491 0 51.92553 35.42024 0 52.15751 35.86802 0 52.48223 36.26777 0 52.88198 36.59249 0 53.32976 36.82447 0 53.79509 36.95826 0 54.25 37 0 54.70491 36.95826 0 55.17024 36.82447 0 55.61802 36.59249 0 56.01777 36.26777 0 56.34249 35.86802 0 56.57447 35.42024 0 56.70826 34.95491 0 56.70826 34.95491 0.3 56.57447 35.42024 0.3 56.34249 35.86802 0.3 56.01777 36.26777 0.3 55.61802 36.59249 0.3 55.17024 36.82447 0.3 54.70491 36.95826 0.3 54.25 37 0.3 53.79509 36.95826 0.3 53.32976 36.82447 0.3 52.88198 36.59249 0.3 52.48223 36.26777 0.3 52.15751 35.86802 0.3 51.92553 35.42024 0.3 51.79174 34.95491 0.3 51.80496 35.02134 0.15 51.98179 35.5513 0.15 52.28609 36.04695 0.15 52.70305 36.46391 0.15 53.1987 36.76821 0.15 53.72866 36.94504 0.15 54.25 37 0.15 54.77134 36.94504 0.15 55.17024 36.82447 0.15 55.55629 36.63157 0.15 55.91016 36.36919 0.15 56.21391 36.04695 0.15 56.45387 35.68023 0.15 56.62264 35.28776 0.15 56.7196 34.8887 0.15 36.79174 34.95491 0 36.92553 35.42024 0 37.15751 35.86802 0 37.48223 36.26777 0 37.88198 36.59249 0 38.32976 36.82447 0 38.79509 36.95826 0 39.25 37 0 39.70491 36.95826 0 40.17024 36.82447 0 40.61802 36.59249 0 41.01777 36.26777 0 41.34249 35.86802 0 41.57447 35.42024 0 41.70826 34.95491 0 41.70826 34.95491 0.3 41.57447 35.42024 0.3 41.34249 35.86802 0.3 41.01777 36.26777 0.3 40.61802 36.59249 0.3 40.17024 36.82447 0.3 39.70491 36.95826 0.3 39.25 37 0.3 38.79509 36.95826 0.3 38.32976 36.82447 0.3 37.88198 36.59249 0.3 37.48223 36.26777 0.3 37.15751 35.86802 0.3 36.92553 35.42024 0.3 36.79174 34.95491 0.3 36.80496 35.02134 0.15 36.98179 35.5513 0.15 37.28609 36.04695 0.15 37.70305 36.46391 0.15 38.1987 36.76821 0.15 38.72866 36.94504 0.15 39.25 37 0.15 39.77134 36.94504 0.15 40.17024 36.82447 0.15 40.55629 36.63157 0.15 40.91016 36.36919 0.15 41.21391 36.04695 0.15 41.45387 35.68023 0.15 41.62264 35.28776 0.15 41.7196 34.8887 0.15 66.79174 26.95491 0 66.92553 27.42024 0 67.15751 27.86803 0 67.48223 28.26777 0 67.88198 28.59249 0 68.32977 28.82447 0 68.79509 28.95826 0 69.25 29 0 69.70491 28.95826 0 70.17024 28.82447 0 70.61803 28.59249 0 71.01777 28.26777 0 71.34249 27.86803 0 71.57447 27.42024 0 71.70827 26.95491 0 71.70827 26.95491 0.3 71.57447 27.42024 0.3 71.34249 27.86803 0.3 71.01777 28.26777 0.3 70.61803 28.59249 0.3 70.17024 28.82447 0.3 69.70491 28.95826 0.3 69.25 29 0.3 68.79509 28.95826 0.3 68.32977 28.82447 0.3 67.88198 28.59249 0.3 67.48223 28.26777 0.3 67.15751 27.86803 0.3 66.92553 27.42024 0.3 66.79174 26.95491 0.3 66.80496 27.02134 0.15 66.98179 27.5513 0.15 67.28609 28.04695 0.15 67.70305 28.46391 0.15 68.1987 28.76821 0.15 68.72866 28.94504 0.15 69.25 29 0.15 69.77134 28.94504 0.15 70.17024 28.82447 0.15 70.55629 28.63157 0.15 70.91017 28.36919 0.15 71.21392 28.04695 0.15 71.45388 27.68023 0.15 71.62265 27.28776 0.15 71.7196 26.8887 0.15 51.79174 26.95491 0 51.92553 27.42024 0 52.15751 27.86803 0 52.48223 28.26777 0 52.88198 28.59249 0 53.32976 28.82447 0 53.79509 28.95826 0 54.25 29 0 54.70491 28.95826 0 55.17024 28.82447 0 55.61802 28.59249 0 56.01777 28.26777 0 56.34249 27.86803 0 56.57447 27.42024 0 56.70826 26.95491 0 56.70826 26.95491 0.3 56.57447 27.42024 0.3 56.34249 27.86803 0.3 56.01777 28.26777 0.3 55.61802 28.59249 0.3 55.17024 28.82447 0.3 54.70491 28.95826 0.3 54.25 29 0.3 53.79509 28.95826 0.3 53.32976 28.82447 0.3 52.88198 28.59249 0.3 52.48223 28.26777 0.3 52.15751 27.86803 0.3 51.92553 27.42024 0.3 51.79174 26.95491 0.3 51.80496 27.02134 0.15 51.98179 27.5513 0.15 52.28609 28.04695 0.15 52.70305 28.46391 0.15 53.1987 28.76821 0.15 53.72866 28.94504 0.15 54.25 29 0.15 54.77134 28.94504 0.15 55.17024 28.82447 0.15 55.55629 28.63157 0.15 55.91016 28.36919 0.15 56.21391 28.04695 0.15 56.45387 27.68023 0.15 56.62264 27.28776 0.15 56.7196 26.8887 0.15 36.79174 26.95491 0 36.92553 27.42024 0 37.15751 27.86803 0 37.48223 28.26777 0 37.88198 28.59249 0 38.32976 28.82447 0 38.79509 28.95826 0 39.25 29 0 39.70491 28.95826 0 40.17024 28.82447 0 40.61802 28.59249 0 41.01777 28.26777 0 41.34249 27.86803 0 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32.20491 26.45926 32.20491 26.45926 38.32976 26.32547 38.79509 26.45926 32.20491 26.45926 38.79509 26.45926 25.6 30.001 25.6 30.001 38.79509 26.45926 39.25 26.501 25.6 30.001 39.25 26.501 46.75 26.501 46.75 26.501 39.25 26.501 46.29509 26.45926 46.29509 26.45926 39.25 26.501 39.70491 26.45926 46.29509 26.45926 39.70491 26.45926 45.82976 26.32547 45.82976 26.32547 39.70491 26.45926 40.17024 26.32547 45.82976 26.32547 40.17024 26.32547 45.38198 26.09349 45.38198 26.09349 40.17024 26.32547 40.61802 26.09349 45.38198 26.09349 40.61802 26.09349 44.98223 25.76877 44.98223 25.76877 40.61802 26.09349 41.01777 25.76877 44.98223 25.76877 41.01777 25.76877 44.65751 25.36902 44.65751 25.36902 41.01777 25.76877 41.34249 25.36902 44.65751 25.36902 41.34249 25.36902 44.42553 24.92124 44.42553 24.92124 41.34249 25.36902 41.57447 24.92124 44.42553 24.92124 41.57447 24.92124 44.29174 24.45591 44.29174 24.45591 41.57447 24.92124 41.70826 24.45591 44.29174 24.45591 41.70826 24.45591 44.25 24.001 44.25 24.001 41.70826 24.45591 41.75 24.001 44.25 24.001 41.75 24.001 44.29174 23.54609 44.29174 23.54609 41.75 24.001 41.70826 23.54609 44.29174 23.54609 41.70826 23.54609 44.42553 23.08076 44.42553 23.08076 41.70826 23.54609 41.57447 23.08076 44.42553 23.08076 41.57447 23.08076 44.65751 22.63298 44.65751 22.63298 41.57447 23.08076 41.34249 22.63298 44.65751 22.63298 41.34249 22.63298 44.98223 22.23323 44.98223 22.23323 41.34249 22.63298 41.01777 22.23323 44.98223 22.23323 41.01777 22.23323 45.38198 21.90851 45.38198 21.90851 41.01777 22.23323 40.61802 21.90851 45.38198 21.90851 40.61802 21.90851 45.38198 18.09349 45.38198 18.09349 40.61802 21.90851 40.61802 18.09349 45.38198 18.09349 40.61802 18.09349 44.98223 17.76877 44.98223 17.76877 40.61802 18.09349 41.01777 17.76877 44.98223 17.76877 41.01777 17.76877 44.65751 17.36902 44.65751 17.36902 41.01777 17.76877 41.34249 17.36902 44.65751 17.36902 41.34249 17.36902 44.42553 16.92124 44.42553 16.92124 41.34249 17.36902 41.57447 16.92124 44.42553 16.92124 41.57447 16.92124 44.29174 16.45591 44.29174 16.45591 41.57447 16.92124 41.70826 16.45591 44.29174 16.45591 41.70826 16.45591 44.25 16.001 44.25 16.001 41.70826 16.45591 41.75 16.001 44.25 16.001 41.75 16.001 44.29174 15.54609 44.29174 15.54609 41.75 16.001 41.70826 15.54609 44.29174 15.54609 41.70826 15.54609 44.42553 15.08076 44.42553 15.08076 41.70826 15.54609 41.57447 15.08076 44.42553 15.08076 41.57447 15.08076 44.65751 14.63298 44.65751 14.63298 41.57447 15.08076 41.34249 14.63298 44.65751 14.63298 41.34249 14.63298 44.98223 14.23323 44.98223 14.23323 41.34249 14.63298 41.01777 14.23323 44.98223 14.23323 41.01777 14.23323 45.38198 13.90851 45.38198 13.90851 41.01777 14.23323 40.61802 13.90851 45.38198 13.90851 40.61802 13.90851 45.38198 10.09349 45.38198 10.09349 40.61802 13.90851 40.61802 10.09349 45.38198 10.09349 40.61802 10.09349 44.98223 9.768768 44.98223 9.768768 40.61802 10.09349 41.01777 9.768768 44.98223 9.768768 41.01777 9.768768 44.65751 9.369025 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56.57447 15.08076 59.42553 15.08076 56.57447 15.08076 59.65751 14.63298 59.65751 14.63298 56.57447 15.08076 56.34249 14.63298 59.65751 14.63298 56.34249 14.63298 59.98223 14.23323 59.98223 14.23323 56.34249 14.63298 56.01777 14.23323 59.98223 14.23323 56.01777 14.23323 60.38198 13.90851 60.38198 13.90851 56.01777 14.23323 55.61802 13.90851 60.38198 13.90851 55.61802 13.90851 60.38198 10.09349 60.38198 10.09349 55.61802 13.90851 55.61802 10.09349 60.38198 10.09349 55.61802 10.09349 59.98223 9.768768 59.98223 9.768768 55.61802 10.09349 56.01777 9.768768 59.98223 9.768768 56.01777 9.768768 59.65751 9.369025 59.65751 9.369025 56.01777 9.768768 56.34249 9.369025 59.65751 9.369025 56.34249 9.369025 59.42553 8.921237 59.42553 8.921237 56.34249 9.369025 56.57447 8.921237 59.42553 8.921237 56.57447 8.921237 59.29174 8.455908 59.29174 8.455908 56.57447 8.921237 56.70826 8.455908 59.29174 8.455908 56.70826 8.455908 59.25 8.001001 59.25 8.001001 56.70826 8.455908 56.75 8.001001 59.25 8.001001 56.75 8.001001 59.29174 7.546092 59.29174 7.546092 56.75 8.001001 56.70826 7.546092 59.29174 7.546092 56.70826 7.546092 59.42553 7.080763 59.42553 7.080763 56.70826 7.546092 56.57447 7.080763 59.42553 7.080763 56.57447 7.080763 59.65751 6.632976 59.65751 6.632976 56.57447 7.080763 56.34249 6.632976 59.65751 6.632976 56.34249 6.632976 59.98223 6.233233 59.98223 6.233233 56.34249 6.632976 56.01777 6.233233 59.98223 6.233233 56.01777 6.233233 60.38198 5.908511 60.38198 5.908511 56.01777 6.233233 55.61802 5.908511 60.38198 5.908511 55.61802 5.908511 60.82976 5.676529 60.82976 5.676529 55.61802 5.908511 55.17024 5.676529 60.82976 5.676529 55.17024 5.676529 61.29509 5.542737 61.29509 5.542737 55.17024 5.676529 54.70491 5.542737 61.29509 5.542737 54.70491 5.542737 71.6 0.601 71.6 0.601 54.70491 5.542737 54.25 5.501 55.61802 21.90851 55.17024 21.67653 55.61802 18.09349 55.61802 18.09349 55.17024 21.67653 55.17024 18.32547 55.17024 18.32547 55.17024 21.67653 54.70491 21.54274 55.17024 18.32547 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1196 7023 1538 1090 7024 1568 1089 7025 1547 1197 7026 1578 759 7027 931 758 7028 930 758 7029 930 1198 7030 1579 1197 7031 1578 1200 7032 1577 1201 7033 995 759 7034 931 759 7035 931 1197 7036 1578 1200 7037 1577 1086 7038 1553 1113 7039 1558 1199 7040 1559 1113 7041 1558 732 7042 935 1200 7043 1577 1200 7044 1577 1199 7045 1559 1113 7046 1558 1200 7047 1577 732 7048 935 1201 7049 995 1201 7050 995 732 7051 935 1150 7052 934 1201 7053 995 1150 7054 934 760 7055 928 1105 7056 1312 1115 7057 1379 1202 7058 1313 1115 7059 1379 1198 7060 1380 1203 7061 1373 1203 7062 1373 1202 7063 1313 1115 7064 1379 1203 7065 1373 1198 7066 1380 758 7067 1381 758 7068 1381 731 7069 1382 1204 7070 942 757 7071 941 1203 7072 1373 1204 7073 942 1204 7074 942 1203 7075 1373 758 7076 1381 731 7077 1382 1151 7078 936 1204 7079 942 683 7080 1455 668 7081 1456 602 7082 1457 668 7083 1456 669 7084 1458 602 7085 1457 669 7086 1458 670 7087 1459 602 7088 1457 670 7089 1459 66 7090 1460 602 7091 1457 671 7092 1461 672 7093 1462 602 7094 1457 672 7095 1462 673 7096 1463 602 7097 1457 673 7098 1463 674 7099 1464 602 7100 1457 674 7101 1464 675 7102 1465 602 7103 1457 675 7104 1465 676 7105 1466 602 7106 1457 676 7107 1466 677 7108 1467 602 7109 1457 677 7110 1467 678 7111 1468 602 7112 1457 678 7113 1468 679 7114 1469 602 7115 1457 679 7116 1469 680 7117 1470 602 7118 1457 680 7119 1470 681 7120 1471 602 7121 1457 681 7122 1471 682 7123 1472 602 7124 1457 682 7125 1472 683 7126 1455 602 7127 1457</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="tethys" name="tethys"> + <node name="Body" id="Body" layer="Final" sid="Body"> + <matrix sid="matrix">1.000000 0.000000 0.000000 -684.179321 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Body-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Tethys" target="#Tethys"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <node name="Fins_vertical" id="Fins_vertical" layer="Final" sid="Fins_vertical"> + <matrix sid="matrix">1.000000 0.000000 0.000000 1039.645874 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Fins_vertical-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Tethys" target="#Tethys"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <node name="Fins_Horizontal" id="Fins_Horizontal" layer="Final" sid="Fins_Horizontal"> + <matrix sid="matrix">1.000000 0.000000 0.000000 1039.645874 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Fins_Horizontal-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Tethys" target="#Tethys"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <node name="Prop" id="Prop" layer="Final" sid="Prop"> + <matrix sid="matrix">1.000000 0.000000 0.000000 -684.179321 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Prop-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Tethys" target="#Tethys"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30.000000</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0.000000</start_time> + <end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#tethys"/> + </scene> +</COLLADA> diff --git a/tutorials/files/underwater_vehicles/my_lrauv/model.config b/tutorials/files/underwater_vehicles/my_lrauv/model.config new file mode 100644 index 0000000000..e663075c3a --- /dev/null +++ b/tutorials/files/underwater_vehicles/my_lrauv/model.config @@ -0,0 +1,15 @@ +<?xml version="1.0"?> +<model> + <name>Tethys</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Carlos AgΓΌero</name> + <email>caguero@openrobotics.org</email> + </author> + + <description> + 3D model of MBARI LRAUV Tethys. + </description> +</model> diff --git a/tutorials/files/underwater_vehicles/my_lrauv/model.sdf b/tutorials/files/underwater_vehicles/my_lrauv/model.sdf new file mode 100644 index 0000000000..55d2e36b26 --- /dev/null +++ b/tutorials/files/underwater_vehicles/my_lrauv/model.sdf @@ -0,0 +1,234 @@ +<?xml version="1.0"?> +<sdf version="1.6"> + <model name="my_lrauv"> + <!-- Body --> + <link name="base_link"> + <inertial> + <mass>147.8671</mass> + <inertia> + <ixx>3.000000</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>41.980233</iyy> + <iyz>0</iyz> + <izz>41.980233</izz> + </inertia> + </inertial> + <!-- Uncomment this block to enable neutral buoyancy. --> + <collision name="main_body_buoyancy"> + <geometry> + <box> + <size>2 0.3 0.2464451666666667</size> + </box> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <mesh> + <uri>meshes/tethys.dae</uri> + <submesh> + <name>Body</name> + <center>false</center> + </submesh> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <specular>1.0 1.0 1.0</specular> + <pbr> + <metal> + <albedo_map>materials/textures/Tethys_Albedo.png</albedo_map> + <normal_map>materials/textures/Tethys_Normal.png</normal_map> + <metalness_map>materials/textures/Tethys_Metalness.png</metalness_map> + <roughness_map>materials/textures/Tethys_Roughness.png</roughness_map> + </metal> + </pbr> + </material> + </visual> + </link> + <!-- Horizontal fins --> + <link name="horizontal_fins"> + <pose>1.05 0 0 0 0 0</pose> + <inertial> + <pose>0 0 0 1.57 0 0.5</pose> + <mass>0.2</mass> + <inertia> + <ixx>0.0007924568755</ixx> + <ixy>-0.0000000002674</ixy> + <ixz>0.0003978158176</ixz> + <iyy>0.0010546736475</iyy> + <iyz>-0.0000000006729</iyz> + <izz>0.0002633558262</izz> + </inertia> + </inertial> + <collision name="collision"> + <geometry> + <box> + <size>0.1 0.1 0.02</size> + </box> + </geometry> + </collision> + <visual name="visual"> + <pose>-1.05 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>meshes/tethys.dae</uri> + <submesh> + <name>Fins_Horizontal</name> + <center>false</center> + </submesh> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <specular>1.0 1.0 1.0</specular> + <pbr> + <metal> + <albedo_map>materials/textures/Tethys_Albedo.png</albedo_map> + <normal_map>materials/textures/Tethys_Normal.png</normal_map> + <metalness_map>materials/textures/Tethys_Metalness.png</metalness_map> + <roughness_map>materials/textures/Tethys_Roughness.png</roughness_map> + </metal> + </pbr> + </material> + </visual> + </link> + <!-- Vertical fins --> + <link name="vertical_fins"> + <pose>1.05 0 0 0 0 0</pose> + <inertial> + <mass>0.2</mass> + <inertia> + <ixx>0.0007924568755</ixx> + <ixy>-0.0000000002674</ixy> + <ixz>0.0003978158176</ixz> + <iyy>0.0010546736475</iyy> + <iyz>-0.0000000006729</iyz> + <izz>0.0002633558262</izz> + </inertia> + </inertial> + <collision name="collision"> + <geometry> + <box> + <size>0.1 0.1 0.02</size> + </box> + </geometry> + </collision> + <visual name="visual"> + <pose>-1.05 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>meshes/tethys.dae</uri> + <submesh> + <name>Fins_vertical</name> + <center>false</center> + </submesh> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <specular>1.0 1.0 1.0</specular> + <pbr> + <metal> + <albedo_map>materials/textures/Tethys_Albedo.png</albedo_map> + <normal_map>materials/textures/Tethys_Normal.png</normal_map> + <metalness_map>materials/textures/Tethys_Metalness.png</metalness_map> + <roughness_map>materials/textures/Tethys_Roughness.png</roughness_map> + </metal> + </pbr> + </material> + </visual> + </link> + <!-- Propeller --> + <link name="propeller"> + <pose>1.43162 0 0 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.09</mass> + <inertia> + <ixx>0.000143971303</ixx> + <ixy>0.000000000008</ixy> + <ixz>-0.000000000224</ixz> + <iyy>0.000140915448</iyy> + <iyz>-0.000025236433</iyz> + <izz>0.000033571862</izz> + </inertia> + </inertial> + <collision name="collision"> + <geometry> + <box> + <size>0.03 0.1 0.03</size> + </box> + </geometry> + </collision> + <visual name="visual"> + <pose>-1.43162 0 0 0 0 0</pose> + <geometry> + <mesh> + <uri>meshes/tethys.dae</uri> + <submesh> + <name>Prop</name> + <center>false</center> + </submesh> + </mesh> + </geometry> + <material> + <diffuse>1.0 1.0 1.0</diffuse> + <specular>1.0 1.0 1.0</specular> + <pbr> + <metal> + <albedo_map>materials/textures/Tethys_Albedo.png</albedo_map> + <normal_map>materials/textures/Tethys_Normal.png</normal_map> + <metalness_map>materials/textures/Tethys_Metalness.png</metalness_map> + <roughness_map>materials/textures/Tethys_Roughness.png</roughness_map> + </metal> + </pbr> + </material> + </visual> + </link> + <!-- Joints --> + <joint name="horizontal_fins_joint" type="revolute"> + <pose>0 0 0 0 0 0</pose> + <parent>base_link</parent> + <child>horizontal_fins</child> + <axis> + <xyz>0 1 0</xyz> + <limit> + <lower>-0.261799</lower> + <upper>0.261799</upper> + <effort>-1</effort> + <velocity>-1</velocity> + </limit> + </axis> + </joint> + <joint name="vertical_fins_joint" type="revolute"> + <pose>0 0 0 0 0 0</pose> + <parent>base_link</parent> + <child>vertical_fins</child> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-0.261799</lower> + <upper>0.261799</upper> + <effort>-1</effort> + <velocity>-1</velocity> + </limit> + </axis> + </joint> + <joint name="propeller_joint" type="revolute"> + <pose>0 0 0 0 0 0</pose> + <parent>base_link</parent> + <child>propeller</child> + <axis> + <xyz>1 0 0</xyz> + <limit> + <lower>-1e+12</lower> + <upper>1e+12</upper> + <effort>-1</effort> + <velocity>-1</velocity> + </limit> + </axis> + </joint> + + </model> +</sdf> diff --git a/tutorials/frame_reference.md b/tutorials/frame_reference.md new file mode 100644 index 0000000000..3d904fa19e --- /dev/null +++ b/tutorials/frame_reference.md @@ -0,0 +1,76 @@ +\page frame_reference + +# Overview + +This tutorial explains how to decide the frame of reference for your model and +the conventions used in Gazebo. + +## Related tutorials + +https://gazebosim.org/api/sim/8/spherical_coordinates.html + +# Gazebo world frame + +This page captures some of the reference frames and conventions that we use in +Gazebo. In general, Gazebo follows [REP 103: Standard Units of Measure and +Coordinate Conventions](https://www.ros.org/reps/rep-0103.html). + +Gazebo's simulation is always performed in Cartesian coordinates (good old XYZ). + +![world_frame](https://user-images.githubusercontent.com/1440739/156785118-225d5973-9837-49d1-8a5b-be402e3c074c.png) + +Additionally, Gazebo supports the use of real world latitude and longitude +coordinates in its simulations using the WGS84 geodetic system. The world's +Cartesian coordinates correspond to a local tangent plane at a given point on +the planetary surface. By default, this plane follows the ENU (East-North-Up) +convention, as shown on the image below: + +![spherical_coordinates](https://user-images.githubusercontent.com/1440739/156786820-f81d3871-2299-4c3d-a4c2-c1047a4e3b18.png) + +# Model frame + +Gazebo follows the right-hand rule. The robot front facing surface is in the +positive x direction, left facing being in the positive y direction, top facing +being in the positive z direction and so forth. + +![model_frame_sm](https://user-images.githubusercontent.com/1440739/156787618-3795012f-3a77-4048-8a16-94d6ba163f2b.jpg) + +# Reference frame design considerations + +If you are creating a model, besides designing its kinematic structure (links +and joints) and physical properties, you need to decide where to place your +model's reference frame. Next are a few examples of our turtle model with three +differente choices for its reference frame. + +@image html files/frame_reference/turtle_frames.png + +Which one should I use then? There's no right answer here but here are a few +recommendations: + +1. If your simulation model is based on a real-world model, try to use the same +reference frame in simulation. This will simplify the process of creating and +maintaining your model in simulation, as most of the measurements that you might +find from your real-world robot will be transferable to your simulation model. + +2. Follow Gazebo's convention making `X` pointing forward, `Y` pointing +left, and `Z` pointing up. + +3. Try to match the `Z` value of your reference frame with the point of your +model that contacts the ground or the water. That way, when you spawn your model +at any point in the world, if you use `z` value of `0`, you know it will +smoothly sit on a stable place. + +# How to set your model reference frame + +There are a few ways to change the reference frame of your model: + +1. Adjust your mesh reference frame. When desigining your mesh you'll be able to +set its reference frame. It's recommended to match the mesh reference frame with +the one you will want in Gazebo for your model. + +2. Add extra transformations via SDF. Your model SDF supports the ability to add +transformations with the `<pose>` tag to add extra offset to the visuals or +collision elements of your model. + +As a rule of thumb, try to minimize the number of transformations in your model +to make it easier to reason about its reference frame. diff --git a/tutorials/joint_controller.md b/tutorials/joint_controller.md new file mode 100644 index 0000000000..12b77666e2 --- /dev/null +++ b/tutorials/joint_controller.md @@ -0,0 +1,675 @@ +\page jointcontrollers Joint Controllers + +Gazebo provides three joint controller plugins which are `JointController`, `JointPositionController`, and `JointTrajectoryController`. + +Let's see a detailed description of each of them and an example usage to help users select the right joint controller for their usage. + +## 1) JointController + +- Joint controller which can be attached to a model with a reference to a single joint. +- Currently, only the first axis of a joint can be actuated. + +### Modes of JointController + +1) Velocity mode: +This mode lets the user control the desired joint velocity directly. + +2) Force mode: +A user who wants to control joint velocity using a PID controller can use this mode. + +**Note**: This force mode is for the user who is looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results. + +All the parameters related to this controller can be found \ref gz::sim::systems::JointController "here". + +The commanded velocity(cmd_vel) can be published or subscribed at the topic: `/model/<model_name>/joint/<joint_name>/cmd_vel` by default. + +Message data type: `Double` + +### Example usage + +Let's see an example for both modes using a simple model having only one joint. + +For controlling joints one would require adding the Gazebo's joint controller plugin to the existing `<model_name>.sdf` file. + +1) Save the SDF file in the desired directory or create one + +e.g. + +```bash +mkdir gz_tutorial +cd gz_turtorial +``` + +2) In this tutorial we will be using the following SDF file (this is just a slight modification of the original `joint_controller.sdf` [example](https://github.com/gazebosim/gz-sim/blob/gz-sim7/examples/worlds/joint_controller.sdf)). + +After changing the directory, name the SDF file as `example.sdf` + +- SDF file: + +```xml +<?xml version="1.0" ?> +<sdf version="1.6"> + <world name="default"> + <light type="directional" name="sun"> + <cast_shadows>true</cast_shadows> + <pose>0 0 10 0 0 0</pose> + <diffuse>1 1 1 1</diffuse> + <specular>0.5 0.5 0.5 1</specular> + <attenuation> + <range>1000</range> + <constant>0.9</constant> + <linear>0.01</linear> + <quadratic>0.001</quadratic> + </attenuation> + <direction>-0.5 0.1 -0.9</direction> + </light> + <model name="joint_controller_demo"> + <pose>0 0 0 0 0 0</pose> + <link name="base_link"> + <pose>0.0 0.0 0.0 0 0 0</pose> + <inertial> + <inertia> + <ixx>2.501</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>2.501</iyy> + <iyz>0</iyz> + <izz>5</izz> + </inertia> + <mass>120.0</mass> + </inertial> + <visual name="base_visual"> + <pose>0.0 0.0 0.0 0 0 0</pose> + <geometry> + <box> + <size>0.5 0.5 0.01</size> + </box> + </geometry> + </visual> + <collision name="base_collision"> + <pose>0.0 0.0 0.0 0 0 0</pose> + <geometry> + <box> + <size>0.5 0.5 0.01</size> + </box> + </geometry> + </collision> + </link> + <link name="rotor"> + <pose>0.0 0.0 0.1 0 0 0</pose> + <inertial> + <inertia> + <ixx>0.032</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.032</iyy> + <iyz>0</iyz> + <izz>0.00012</izz> + </inertia> + <mass>0.6</mass> + </inertial> + <visual name="visual"> + <geometry> + <box> + <size>0.25 0.1 0.05</size> + </box> + </geometry> + <material> + <ambient>0.2 0.8 0.2 1</ambient> + <diffuse>0.8 0 0 1</diffuse> + </material> + </visual> + <collision name="collision"> + <geometry> + <box> + <size>0.25 0.1 0.05</size> + </box> + </geometry> + </collision> + </link> + + <joint name="world_fixed" type="fixed"> + <parent>world</parent> + <child>base_link</child> + </joint> + + <joint name="j1" type="revolute"> + <pose>0 0 -0.5 0 0 0</pose> + <parent>base_link</parent> + <child>rotor</child> + <axis> + <xyz>0 0 1</xyz> + </axis> + </joint> + </model> + </world> +</sdf> +``` + +3) Run the following command to launch the gazebo simulation: + +```bash +gz sim -v 4 -r example.sdf +``` + +This is how the model will look: + +<div style="text-align:center;"> + \image html files/joint_controllers/JointController.png width=50% +</div> + +4) Now let's add the Gazebo JointController plugin to the SDF file. Add the following line to your file just before the tag `</model>`. + +**Note**: All the plugins discussed here should be between `<model>` and `</model>` tags. Ideally just before the `</model>` tag for better readability. + +- Velocity mode + +```xml +<plugin + filename="gz-sim-joint-controller-system" + name="gz::sim::systems::JointController"> + <joint_name>j1</joint_name> + <initial_velocity>1.0</initial_velocity> +</plugin> +``` + +The initial velocity is set to 1.0 rad/s. + +<div style="text-align:center;"> + \image html files/joint_controllers/JointControllerVelMode1.gif width=50% +</div> + +One can change the joint velocity by publishing a message on the topic `/model/joint_controller_demo/joint/j1/cmd_vel` or can change the topic name within the plugin. + +To change the topic name add the following line before `</plugin>` tag in the SDF file. + +```xml +<topic>topic_name</topic> +``` + +- Sending velocity commands + +```bash +gz topic -t "/topic_name" -m gz.msgs.Double -p "data: 10.0" +``` + +<div style="text-align:center;"> + \image html files/joint_controllers/JointControllerVelMode2.gif width=50% +</div> + +- Force mode + +Replace the velocity mode plugin mentioned above with the following lines in the SDF file for force mode. + +```xml +<plugin + filename="gz-sim-joint-controller-system" + name="gz::sim::systems::JointController"> + <joint_name>j1</joint_name> + <use_force_commands>true</use_force_commands> + <p_gain>0.2</p_gain> + <i_gain>0.01</i_gain> +</plugin> +``` + +This would look almost the same as velocity mode if PID gains are tuned properly. + +5) Checking Joint states. +Here the state of the joint is obtained using the Gazebo’s JointStatepublisher plugin. Please visit \ref gz::sim::systems::JointStatePublisher for more information. +- Add the following lines to the SDF file before `</model>` tag: +```xml +<plugin + filename="gz-sim-joint-state-publisher-system" + name="gz::sim::systems::JointStatePublisher"> + <joint_name>j1</joint_name> +</plugin> +``` +- To check joint state. + +```bash +gz topic -e -t /world/default/model/joint_controller_demo/joint_state +``` + +```bash +joint { + name: "j1" + id: 12 + parent: "base_link" + child: "rotor" + pose { + position { + z: -0.5 + } + orientation { + w: 1 + } + } + axis1 { + xyz { + z: 1 + } + limit_lower: -inf + limit_upper: inf + position: 35.115896338490096 + velocity: 1.0000051832309742 + } +} +``` + +An example where p_gain was set to 2.0 and the joint controller failed to reach the desired velocity and behaved absurdly due to improper gains is shown below. + +<div style="text-align:center;"> + \image html files/joint_controllers/JoinControllerForceMode.gif width=50% +</div> + +```bash +joint { + name: "j1" + id: 12 + parent: "base_link" + child: "rotor" + pose { + position { + z: -0.5 + } + orientation { + w: 1 + } + } + axis1 { + xyz { + z: 1 + } + limit_lower: -inf + limit_upper: inf + position: 44282.754868627489 + velocity: -2891.1685359866523 + } +} +``` + +## 2) JointPositionController + +- Joint position controller which can be attached to a model with a reference to a single joint. +- One can mention the axis of the joint they want to control. + +JointPositionController uses a PID controller to reach a desired joint position. + +All the parameters related to this controller can be found \ref gz::sim::systems::JointPositionController "here". + +Commanded position(cmd_pos) can be published or subscribed at the topic: `/model/<model_name>/joint/<joint_name>/<joint_index>/cmd_pos` by default. + +Message data type: `Double`. + +### Example usage: + +For this let's use the previously discussed SDF file. + +1) Replace the JointController plugin with the JointPositionController plugin in SDF file. + +```xml +<plugin + filename="gz-sim-joint-position-controller-system" + name="gz::sim::systems::JointPositionController"> + <joint_name>j1</joint_name> + <topic>topic_name</topic> + <p_gain>1</p_gain> + <i_gain>0.1</i_gain> + <d_gain>0.01</d_gain> + <i_max>1</i_max> + <i_min>-1</i_min> + <cmd_max>1000</cmd_max> + <cmd_min>-1000</cmd_min> +</plugin> +``` + +2) Sending joint position command. + +```bash +gz topic -t "/topic_name" -m gz.msgs.Double -p "data: -1.0" +``` + +<div style="text-align:center;"> + \image html files/joint_controllers/JointPositionController.gif width=50% +</div> + + +3) Checking joint state. + +```bash +gz topic -e -t /world/default/model/joint_controller_demo/joint_state +``` + +```bash +joint { + name: "j1" + id: 12 + parent: "base_link" + child: "rotor" + pose { + position { + z: -0.5 + } + orientation { + w: 1 + } + } + axis1 { + xyz { + z: 1 + } + limit_lower: -inf + limit_upper: inf + position: 0.99999991907580654 + velocity: 8.1005154347602952e-09 + } +} +``` + +## 3) JointTrajectoryController. + +- Joint trajectory controller, which can be attached to a model with reference to one or more 1-axis joints to follow a trajectory. + +JointTrajectoryController lets’s user specify the required position, velocity, and effort with respect to time. For velocity and position, this controller uses a PID controller. + +A detailed description and related parameter of JointTrajectoryController can be found \ref gz::sim::systems::JointTrajectoryController "here". + +The trajectory message can be published or subscribed at `/model/${MODEL_NAME}/joint_trajectory` by default. + +Message type: [`JointTrajectory`](https://gazebosim.org/api/msgs/7.2/classignition_1_1msgs_1_1JointTrajectory.html) + +### Example usage: + +Let’s set up a new model for this example. A two-linked manipulator arm which has a total of two joints to control ([`joint_trajectory_controller.sdf`](https://github.com/gazebosim/gz-sim/blob/gz-sim7/examples/worlds/joint_trajectory_controller.sdf) is the original example). Name it as `example2.sdf`. + +- SDF file: + +```xml +<?xml version="1.0" +<sdf version="1.6"> + <world name="default"> + <scene> + <ambient>0.4 0.4 0.4</ambient> + <grid>false</grid> + </scene> + <!-- --> + <!-- Illumination --> + <!-- --> + <light type="directional" name="sun"> + <cast_shadows>false</cast_shadows> + <pose>5 5 5 0 0 0</pose> + <diffuse>0.8 0.8 0.8 1</diffuse> + <specular>0.2 0.2 0.2 1</specular> + <attenuation> + <range>1000</range> + <constant>0.9</constant> + <linear>0.01</linear> + <quadratic>0.001</quadratic> + </attenuation> + <direction>-1 -1 -1</direction> + </light> + + <!-- --> + <!-- Models --> + <!-- --> + <model name="background_plane"> + <pose>-0.1 0 0 0 1.5708 0</pose> + <static>true</static> + <link name="background_plane_link"> + <visual name="background_plane_visual"> + <geometry> + <plane> + <normal>0 0 1</normal> + <size>5 5</size> + </plane> + </geometry> + <material> + <diffuse>0.5 0.5 0.5 1</diffuse> + <specular>0.5 0.5 0.5 1</specular> + </material> + </visual> + </link> + </model> + + <!-- RR robot (Red) - Position control --> + <model name="RR_position_control"> + <pose>0 0 0 0 -3.14159 0</pose> + <!-- Fix To World --> + <joint name="RR_position_control_world" type="fixed"> + <parent>world</parent> + <child>RR_position_control_link0</child> + </joint> + <!-- Links --> + <link name="RR_position_control_link0"> + <collision name="RR_position_control_link0_collision_0"> + <geometry> + <sphere> + <radius>0.025</radius> + </sphere> + </geometry> + </collision> + <visual name="RR_position_control_link0_visual_0"> + <geometry> + <sphere> + <radius>0.025</radius> + </sphere> + </geometry> + <material> + <ambient>0 0.5 0.5 1</ambient> + <diffuse>0 0.8 0.8 1</diffuse> + <specular>0.8 0.8 0.8 1</specular> + </material> + </visual> + </link> + <link name="RR_position_control_link1"> + <pose relative_to="RR_position_control_joint1">0 0 0.1 0 0 0</pose> + <collision name="RR_position_control_link1_collision_0"> + <geometry> + <cylinder> + <radius>0.01</radius> + <length>0.2</length> + </cylinder> + </geometry> + </collision> + <collision name="RR_position_control_link1_collision_1"> + <geometry> + <sphere> + <radius>0.0125</radius> + </sphere> + </geometry> + </collision> + <visual name="RR_position_control_link1_visual_0"> + <geometry> + <cylinder> + <radius>0.01</radius> + <length>0.2</length> + </cylinder> + </geometry> + <material> + <ambient>0.5 0 0 1</ambient> + <diffuse>0.8 0 0 1</diffuse> + <specular>0.8 0 0 1</specular> + </material> + </visual> + <visual name="RR_position_control_link1_visual_1"> + <pose relative_to="RR_position_control_joint1">0 0 0.2 0 0 0</pose> + <geometry> + <sphere> + <radius>0.0125</radius> + </sphere> + </geometry> + <material> + <ambient>0.5 0.5 0.5 1</ambient> + <diffuse>0.8 0.8 0.8 1</diffuse> + <specular>0.8 0.8 0.8 1</specular> + </material> + </visual> + <inertial> + <mass>0.1</mass> + <inertia> + <ixx>0.0003358</ixx> + <iyy>0.0003358</iyy> + <izz>0.000005</izz> + </inertia> + </inertial> + </link> + <link name="RR_position_control_link2"> + <pose relative_to="RR_position_control_joint2">0 0 0.1 0 0 0</pose> + <collision name="RR_position_control_link2_collision"> + <geometry> + <cylinder> + <radius>0.01</radius> + <length>0.2</length> + </cylinder> + </geometry> + </collision> + <visual name="RR_position_control_link2_visual"> + <geometry> + <cylinder> + <radius>0.01</radius> + <length>0.2</length> + </cylinder> + </geometry> + <material> + <ambient>0.5 0 0 1</ambient> + <diffuse>0.8 0 0 1</diffuse> + <specular>0.8 0 0 1</specular> + </material> + </visual> + <inertial> + <mass>0.1</mass> + <inertia> + <ixx>0.0003358</ixx> + <iyy>0.0003358</iyy> + <izz>0.000005</izz> + </inertia> + </inertial> + </link> + <!-- Joints --> + <joint name="RR_position_control_joint1" type="revolute"> + <pose relative_to="RR_position_control_link0">0 0 0 0 0 0</pose> + <parent>RR_position_control_link0</parent> + <child>RR_position_control_link1</child> + <axis> + <xyz>1 0 0</xyz> + <dynamics> + <damping>0.5</damping> + </dynamics> + </axis> + </joint> + <joint name="RR_position_control_joint2" type="revolute"> + <pose relative_to="RR_position_control_link1">0 0 0.1 0 0 0</pose> + <parent>RR_position_control_link1</parent> + <child>RR_position_control_link2</child> + <axis> + <xyz>1 0 0</xyz> + <dynamics> + <damping>0.25</damping> + </dynamics> + </axis> + </joint> + <!-- Controller --> + </model> + </world> +</sdf> +``` + +1) Launching gazebo simulation. + +```bash +gz sim -v 4 -r example2.sdf +``` + +This is how the model will look: + +<div style="text-align:center;"> + \image html files/joint_controllers/JointTrajectoryController.png width=50% +</div> + +2) Adding the JointTrajectoryController plugin and let’s do position control for both joints. + +Append the following lines before `</model>` tag in the SDF file. + +```xml + <plugin + filename="gz-sim-joint-trajectory-controller-system" + name="gz::sim::systems::JointTrajectoryController"> + <joint_name>RR_position_control_joint1</joint_name> + <initial_position>0.7854</initial_position> + <position_p_gain>20</position_p_gain> + <position_i_gain>0.4</position_i_gain> + <position_d_gain>1.0</position_d_gain> + <position_i_min>-1</position_i_min> + <position_i_max>1</position_i_max> + <position_cmd_min>-20</position_cmd_min> + <position_cmd_max>20</position_cmd_max> + + <joint_name>RR_position_control_joint2</joint_name> + <initial_position>-1.5708</initial_position> + <position_p_gain>10</position_p_gain> + <position_i_gain>0.2</position_i_gain> + <position_d_gain>0.5</position_d_gain> + <position_i_min>-1</position_i_min> + <position_i_max>1</position_i_max> + <position_cmd_min>-10</position_cmd_min> + <position_cmd_max>10</position_cmd_max> +</plugin> +``` + +3) Sending trajectory message (Can also change the topic name). + +```bash +gz topic -t "topic_name" -m gz.msgs.JointTrajectory -p ' + joint_names: "RR_position_control_joint1" + joint_names: "RR_position_control_joint2" + points { + positions: -0.7854 + positions: 1.5708 + time_from_start { + sec: 0 + nsec: 250000000 + } + } + points { + positions: -1.5708 + positions: 0 + time_from_start { + sec: 0 + nsec: 500000000 + } + } + points { + positions: -1.5708 + positions: -1.5708 + time_from_start { + sec: 0 + nsec: 750000000 + } + } + points { + positions: 0 + positions: 0 + time_from_start { + sec: 1 + nsec: 0 + } + } +``` + +<div style="text-align:center;"> + \image html files/joint_controllers/JointTrajectoryController.gif width=50% +</div> + +**Note**: by default velocity and position control are disabled if one wants to use this mode, they must specify the PID gains value according to usage. + +In case, PID gains are not specified then by default force mode will work. + +4) Checking the progress of the commanded trajectory. + +```bash +gz topic -e -t "/model/RR_position_control/joint_trajectory_progress" +``` + +This returns the progress of the commanded trajectory which is a value between (0,1]. + +Finally, JointTrajectoryController can be used for hybrid control (e.g. In manipulator robots) where value from position PID, velocity PID, and commanded force value are summed up and applied. diff --git a/tutorials/lander.md b/tutorials/lander.md new file mode 100644 index 0000000000..ecff012177 --- /dev/null +++ b/tutorials/lander.md @@ -0,0 +1,420 @@ +\page lander + +# Overview + +This tutorial explains how to create and load an underwater lander vehicle in +Gazebo. This type of vehicles don't usually have control surfaces or thrusters. +They typically sink until they reach the seafloor or certain depth and go back +to the surface while they collect sensor measurements. + +## Related tutorials + +https://gazebosim.org/api/sim/8/create_vehicle.html + +https://gazebosim.org/api/sim/8/adding_visuals.html + +https://gazebosim.org/api/sim/8/frame_reference.html + +https://gazebosim.org/api/sim/8/adding_system_plugins.html + +https://gazebosim.org/api/sim/8/theory_buoyancy.html + +https://gazebosim.org/api/sim/8/theory_hydrodynamics.html + +# Create your vehicle + +As an example, we'll go through the process of creating an Inkfish underwater +lander vehicle. + +## Basic SDF + +Create a workspace to store your brand new model named `my_lander`. + +```bash +mkdir -p ~/gazebo_maritime/models/my_lander && cd ~/gazebo_maritime/models/my_lander +``` + +Download the `model.config` file and copy it within that directory: + +```bash +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/lander/model.config -O ~/gazebo_maritime/models/my_lander/model.config +``` + +In its simple version, the lander does not have any moving pieces, so the SDF +model only has one single link, `base_link` in our case. + +Create a `model.sdf` and paste the following content: + +```xml +<?xml version="1.0"?> +<sdf version="1.6"> + <model name="lander"> + <link name="base_link"> + <inertial> + <!-- Center of mass --> + <pose>0 0 -0.982494 0 0 0</pose> + + <mass>1209.175</mass> + <inertia> + <ixx>205.227945746</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>412.254844006</iyy> + <iyz>0</iyz> + <izz>383.659583213</izz> + </inertia> + </inertial> + + <visual name="chassis_visual"> + <geometry> + <box> + <size>1.325 1.1503 1.5</size> + </box> + </geometry> + </visual> + </link> + + </model> +</sdf> +``` + +We can now test it in Gazebo. Launch it with: + +```bash +gz sim ~/gazebo_maritime/models/my_lander/model.sdf +``` + +You should see your model visualized as a box. + +@image html files/lander/simple_lander.png + +## Adding visuals + +Let's now add nicer-looking visuals to our lander. Download the following +`COLLADA` mesh file from here. + +```bash +mkdir ~/gazebo_maritime/models/my_lander/meshes +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/lander/inkfish-lander.dae -O ~/gazebo_maritime/models/my_lander/meshes/inkfish-lander.dae +``` + +Replace the `chassis_visual` element in your `model.sdf` with the following +block: + +```xml +<visual name="chassis_visual"> + <geometry> + <mesh> + <uri>meshes/inkfish-lander.dae</uri> + </mesh> + </geometry> +</visual> +``` + +And launch Gazebo to see the results: + +```bash +gz sim ~/my_models/my_lander/model.sdf +``` + +Your box should now be replaced with a better looking mesh. + +@image html files/lander/lander_visuals.png + +## Checking frame of reference + +Launch your lander in Gazebo as we did before: + +```bash +gz sim ~/gazebo_maritime/models/my_lander/model.sdf +``` + +You can visualize the frame of reference of your vehicle by loading the plugin +`Transform Control` from the GUI. + +@image html files/lander/gui_transform_control.png + +Then, click on the vehicle, and then, click on the `Translate mode` icon. You'll +now visualize your lander frame of reference. As this is the expected frame of +reference, we won't need to apply changes in the COLLADA mesh or add any +`<pose>` offset to our `model.sdf`. + +## Adding plugins + +### Buoyancy + +We are going to start extending our model adding buoyancy properties. For that, +we need to do two things: + +1. Create a Gazebo world SDF file and load the buoyancy world plugin. +2. Add `<collision>` elements to our lander model SDF. + +Let's start with the world. Download the following world: + +```bash +mkdir -p ~/gazebo_maritime/worlds +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/lander/buoyant_lander.sdf -O ~/gazebo_maritime/worlds/buoyant_lander.sdf +export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models +``` + +Now, open your `~/gazebo_maritime/models/my_lander/model.sdf` and add the low +volume outer collision elements to the `base_link`: + +```xml +<collision name="collision_top"> + <pose>0 0 1.5 0 0 0</pose> + <geometry> + <box> + <size>1.325 1.1503 0.000001</size> + </box> + </geometry> +</collision> + +<collision name="collision_rear"> + <pose>0.6625 0 0.75 0 0 0</pose> + <geometry> + <box> + <size>0.000001 1.1503 1.5</size> + </box> + </geometry> +</collision> + +<collision name="collision_front"> + <pose>-0.6625 0 0.75 0 0 0</pose> + <geometry> + <box> + <size>0.000001 1.1503 1.5</size> + </box> + </geometry> +</collision> + +<collision name="collision_starboard"> + <pose>0 0.57515 0.75 0 0 0</pose> + <geometry> + <box> + <size>1.325 0.000001 1.5</size> + </box> + </geometry> +</collision> + +<collision name="collision_port"> + <pose>0 -0.57515 0.75 0 0 0</pose> + <geometry> + <box> + <size>1.325 0.000001 1.5</size> + </box> + </geometry> +</collision> + +<collision name="collision_bottom"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <box> + <size>1.325 1.1503 0.000001</size> + </box> + </geometry> +</collision> +``` + +You can now launch Gazebo: + +```bash +gz sim ~/gazebo_maritime/worlds/buoyant_lander.sdf +``` + +And visualize collisions by right-clicking on the lander, and the, `View` -> +`Collisions`. + +@image html files/lander/lander_collisions.png + +If you hit play, your lander will sink as expected. Although the buoyancy plugin +is loaded, notice that all the collision elements that we added are low-volume. +This is on purpose to make sure that our model can collide with obstacles. +However, it's generating very little buoyancy. + +Let's now compute the reference volume that will make the lander neutrally +buoyant. + +$$volume\\_neutral = \frac{mass}{waterDensity} = \frac{1209.175}{1025} = 1.1796829268292683$$ + +Now, let's account for the volume that our lander already has thanks to the +low-volume outer collision elements: + +$$outer\\_volume = 2*1.1325*1.1503*0.000001 + 2*0.000001*1.1503*1.5 + 2*1.325* 0.000001*1.5 = 1.00313295e-05$$ + +Let's now compute the volume of the main buoyancy `<collision>` element: + +$$main\\_buoyancy\\_volume = 1.1796829268292683 - 1.00313295e-05 = 1.1796728954997684$$ + +Let's verify that our lander is neutrally buoyant now. Add the following +collision element to your `base_link`: + +```xml +<!-- Center of buoyancy --> +<collision name="buoyancy"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <box> + <size>1.1796728954997684 1 1</size> + </box> + </geometry> +</collision> +``` + +And launch Gazebo: + +```bash +gz sim ~/gazebo_maritime/worlds/buoyant_lander.sdf +``` + +Hit play, and your lander should now maintain depth! + +This an example to illustrate how to calculate this reference value, however a +lander is normally designed to sink. + +Change the buoyancy plugin to the following value to be more realistic: + +```xml +<!-- Center of buoyancy --> +<collision name="buoyancy"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <box> + <size>1.14 1 1</size> + </box> + </geometry> +</collision> +``` + +And launch Gazebo: + +```bash +gz sim ~/gazebo_maritime/worlds/buoyant_lander.sdf +``` + +Hit play and the lander will slowly sink and hit the seafloor. + +### Hydrodynamics + +As an underwater vehicle, the lander should be influenced by the water as it +moves. We can do that by attaching the `hydrodynamics` plugin to our lander. +Add the next SDF block to your `model.sdf`. Note that we have empirically +adjusted its values. Follow the +[hydrodynamics tutorial](https://gazebosim.org/api/sim/8/theory_hydrodynamics.html) +for recommendations about how to tune its values. + +```xml +<!-- Hydrodynamics --> +<plugin + filename="gz-sim-hydrodynamics-system" + name="gz::sim::systems::Hydrodynamics"> + <link_name>base_link</link_name> + <xDotU>-4.876161</xDotU> + <yDotV>-126.324739</yDotV> + <zDotW>-126.324739</zDotW> + <kDotP>0</kDotP> + <mDotQ>-33.46</mDotQ> + <nDotR>-33.46</nDotR> + <xUabsU>-6.2282</xUabsU> + <xU>0</xU> + <yVabsV>-601.27</yVabsV> + <yV>0</yV> + <zWabsW>-601.27</zWabsW> + <zW>0</zW> + <kPabsP>-0.1916</kPabsP> + <kP>0</kP> + <mQabsQ>-632.698957</mQabsQ> + <mQ>0</mQ> + <nRabsR>-632.698957</nRabsR> + <nR>0</nR> +</plugin> +``` + +### Drop weight + +A common feature in maritime landers is to include a drop weight device. When +this device is enabled, some part of the vehicle is detached from the main +chassis. At this point, the vehicle becomes positive buoyant, and starts moving +up towards the water surface. + +In order to simulate this behavior, we'll need to make two changes to our lander +model: + +1. Add a new separate link to act as the drop weight. +2. Attach a plugin to disconnect the previous link on demand. + +Let's add the following SDF block to your `model.sdf`: + +```xml +<!-- Drop weight --> +<link name="drop_weight"> + <pose>0 0 0.25 0 0 0</pose> + <visual name="drop_weight_visual"> + <geometry> + <box> + <size>0.5 0.5 0.5</size> + </box> + </geometry> + </visual> + <collision name="drop_weight_collision"> + <geometry> + <box> + <size>0.5 0.5 0.000001</size> + </box> + </geometry> + </collision> + <inertial> + <mass>120</mass> + </inertial> +</link> + +<plugin + filename="gz-sim-detachable-joint-system" + name="gz::sim::systems::DetachableJoint"> + <parent_link>base_link</parent_link> + <child_model>__model__</child_model> + <child_link>drop_weight</child_link> + <topic>/model/lander/drop_weight</topic> +</plugin> +``` + +The mass of the drop weight changes the buoyancy properties of the lander. Let's +calculate the reference values: + +$$volume\\_neutral\\_with\\_dropweight = \frac{mass}{waterDensity} = \frac{1209.175 + 120}{1025} = 1.2967560975609755$$ + +$$volume\\_neutral\\_without\\_dropweight = \frac{mass}{waterDensity} = \frac{1209.175}{1025} = 1.1796829268292683$$ + +We're looking for a volume that's lower than `volume_neutral_with_dropweight` to +cause the lander to sink from its initial configuration, and bigger than +`volume_neutral_without_dropweight` to cause the lander to go back to the +surface when the drop weight is enabled. Let's choose `1.24` as the volume for +our main buoyancy collision element. Replace the `buoyancy` collision element +with: + +```xml +<!-- Center of buoyancy --> +<collision name="buoyancy"> + <pose>0 0 0 0 0 0</pose> + <geometry> + <box> + <size>1.24 1 1</size> + </box> + </geometry> +</collision> +``` + +And launch Gazebo: + +```bash +gz sim ~/gazebo_maritime/worlds/buoyant_lander.sdf +``` + +Hit play and observe how the lander sinks until it hits the seafloor. Then, +enable the drop weight to detach the extra link: + +```bash +gz topic -t "/model/lander/drop_weight" -m gz.msgs.Empty -p "unused: true" +``` + +Observe how your lander comes to the surface. diff --git a/tutorials/migration_sdf.md b/tutorials/migration_sdf.md index 1909bd5b8c..37a6a444c0 100644 --- a/tutorials/migration_sdf.md +++ b/tutorials/migration_sdf.md @@ -269,8 +269,8 @@ that worked on Gazebo classic may need more plugins on Gazebo. ## Materials Gazebo does not support Ogre material files like Classic does, because Gazebo -Gazebo can be used with multiple rendering engines. Therefore, materials defined -within a `<script>` aren't supported on Gazebo, for example: +can be used with multiple rendering engines. Though, there is limited support for pre-defined +materials, but arbitrary materials defined (below) within a `<script>` aren't supported: ``` <material> @@ -282,15 +282,11 @@ within a `<script>` aren't supported on Gazebo, for example: </material> ``` -To make your models compatible with both simulators, you can use these alternatives: - ### Plain colors -If the material defines plain colors, use the `<ambient>`, `<specular>`, -`<emissive>` and `<diffuse>` tags as needed. - -For example, this material from -[gazebo.material](https://github.com/osrf/gazebo/blob/gazebo11/media/materials/scripts/gazebo.material): +To ease migration, Gazebo automatically parses plain solid colors defined in this material file +[gazebo.material](https://github.com/osrf/gazebo/blob/gazebo11/media/materials/scripts/gazebo.material), +if encountered like: ``` <material> @@ -301,7 +297,10 @@ For example, this material from </material> ``` -Can be changed to: +But this automatic parsing capability is limited to plain solid colors, other colors would be +rendered with a default <material> value. Eventually, to make your models compatible with both + simulators, such material defining plain colors should be updated to use the `<ambient>`, `<specular>`, +`<emissive>` and `<diffuse>` tags as needed: ``` <material> diff --git a/tutorials/surface_vehicles.md b/tutorials/surface_vehicles.md new file mode 100644 index 0000000000..812edf98ba --- /dev/null +++ b/tutorials/surface_vehicles.md @@ -0,0 +1,379 @@ +\page surface_vehicles + +# Overview + +This tutorial explains how to create and load a maritime surface vehicle in +Gazebo. This type of vehicle usually has multiple thrusters and navigate +with the presence of waves and wind. + +## Related tutorials + +https://gazebosim.org/api/sim/8/create_vehicle.html + +https://gazebosim.org/api/sim/8/adding_visuals.html + +https://gazebosim.org/api/sim/8/frame_reference.html + +https://gazebosim.org/api/sim/8/adding_system_plugins.html + +https://gazebosim.org/api/sim/8/theory_hydrodynamics.html + +# Adding an environment + +We'll start this tutorial creating a workspace with some custom models, worlds, +and plugins that are not available yet on Gazebo. You could use this workspace +as a template when in need of customizing Gazebo for your needs. + +To compile all the custom libraries in the right order `colcon` is recommended. +The `colcon` tool is available on all platforms using `pip3`. + +```bash +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/surface_vehicles/gz_maritime_ws.zip -O ~/gz_maritime_ws.zip +unzip ~/gz_maritime_ws.zip +``` + +## Generic tools + +Install tools needed by this tutorial: + +```bash +sudo apt install python3-pip wget +pip3 install -U colcon-common-extensions +``` + +## Setup the workspace + +Let's now build our workspace: + +```bash +cd ~/gazebo_maritime_ws +colcon build --merge-install +export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:~/gazebo_maritime_ws/install/share/gazebo_maritime/models +export GZ_SIM_SYSTEM_PLUGIN_PATH=$GZ_SIM_SYSTEM_PLUGIN_PATH:~/gazebo_maritime_ws/install/lib +export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/gazebo_maritime_ws/install/lib +``` + +And run the simulation: + +```bash +gz sim -r src/gazebo_maritime/worlds/sydney_regatta.sdf +``` + +@image html files/surface_vehicles/sydney_regatta.png + +Gazebo is loaded with the Sydney Regatta Center! + +# Create your vehicle + +It's time to create our maritime surface vehicle. We're going to use the +Wave Adaptive Modular Vehicle (WAM-V) as the surface platform. This is the +robot that we use in the [VRX project](https://github.com/osrf/vrx) as well. + +## Basic SDF + +Let's start with the basic SDF of the WAM-V platform. Open with your favorite +editor the file +`~/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.sdf`. + +Notice how the vehicle is composed by multiple links: + +```bash +wam-v +└────────────────────────────── base_link + left_chasis_engine_joint└─────── left_engine_link + left_engine_propeller_joint└─────── left_propeller_link + + right_chasis_engine_joint└─────── right_engine_link + right_engine_propeller_joint└─────── right_propeller_link +``` + +The main chassis with the two rigid pontoons are captured by `base_link`. +A revolute joint (`left_chasis_engine_joint`) connects the chasis and the +`left_engine_link`. The purpose of this connection is to allow the engine to +rotate. This is an additional degree of freedom that we expose to make the +thruster control more flexible. Then, the `left_engine_link` is connected to the +`left_propeller_link` via the revolute joint `left_engine_propeller_joint`. +The purpose of this connection is to allow the propeller to spin. This +kinematic structure is repeated on the right side. + +Uncomment now the following block in the `sydney_regatta.sdf` file: + +```xml +<!-- Uncomment this block to load the WAM-V model--> +<include> + <name>wam-V</name> + <pose>-532 162 0 0 0 1</pose> + <uri>wam-v</uri> +</include> +``` + +And launch Gazebo: + +```bash +gz sim src/gazebo_maritime/worlds/sydney_regatta.sdf +``` + +@image html files/surface_vehicles/wamv.png + +If you hit play, your WAM-V will sink (sad but expected). There's no buoyancy +enabled yet. + +## Checking frame of reference + +Launch your world in Gazebo as we did before: + +```bash +gz sim src/gazebo_maritime/worlds/sydney_regatta.sdf +``` + +You can visualize the frame of reference of your vehicle by loading the plugin +`Transform Control` from the GUI. + +@image html files/lander/gui_transform_control.png + +Then, click on the vehicle, and then, click on the `Translate mode` icon. You'll +now visualize your WAM-V frame of reference. As this is the expected frame of +reference, we won't need to apply changes in the COLLADA mesh or add any +`<pose>` offset to our `model.sdf`. + +@image html files/surface_vehicles/wamv_reference_frame.png + +## Adding plugins + +### The Surface plugin + +Normally, there's a section here where we explain how to add buoyancy to our +model. It's totally possible to do it that way but for stability reasons, we +have created a more specific plugin to simulate buoyancy in the presence of +waves, the `Surface` plugin. + +Open the file `~/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.sdf` +with your favorite editor and look at the `Surface` plugin: + +```xml +<!-- Uncomment to produce buoyancy on the left hull --> +<plugin + filename="libSurface.so" + name="maritime::Surface"> + <link_name>base_link</link_name> + <hull_length>4.9</hull_length> + <hull_radius>0.213</hull_radius> + <fluid_level>0</fluid_level> + <points> + <point>0.6 1.03 0</point> + <point>-1.4 1.03 0</point> + </points> + <wavefield> + <topic>/gazebo/wavefield/parameters</topic> + </wavefield> +</plugin> +``` + +Before we go into the weeds of the plugin, you can guess from the comment that +this plugin simulates the buoyancy generated by the left pontoon. A very similar +plugin is attached to the right pontoon. + +The `Surface` plugin simulates the buoyancy of an object at the surface of +a fluid. This system/plugin must be attached to a model and the system applies +buoyancy to a collection of points around a given link. + +This plugin models the vehicle's buoyancy assuming a single hull with a +cylindrical shape. You can instantiate multiple plugins when your vehicle has +multiple pontoons. + +This plugin also supports waves. If you provide a wavefield topic via SDF, the +plugin will receive the wavefield parameters and account for the delta Z that +the waves generate at each point. + +Here are the detailed parameters: + +* `<link_name>` is the name of the link used to apply forces. +* [Optional] `<hull_length>` is the length of the vessel [m]. +* [Optional] `<hull_radius>` is the radius of the vessel's hull [m]. +* [Optional] `<fluid_level>` is the depth at which the fluid should be in the + vehicle +* [Optional] `<fluid_density>` is the density of the fluid. +* [Optional] `<points>` contains a collection of points where the forces + generated by this plugin will be applied. See the format of each + point next: +* [Optional] `<points><point>` Relative position of the point relative to + `link_name`. +* [Optional] `<wavefield>`: The wavefield parameters. + See `~/gazebo_maritime_ws/src/gazebo_maritime/src/Wavefield.hh`. + +Go ahead and uncomment the two blocks in +`~/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.sdf` to +instantiate the `Surface` plugins and see the effect on your WAM-V: + +```bash +colcon build --merge-install +gz sim -r src/gazebo_maritime/worlds/sydney_regatta.sdf +``` + +Now your vehicle is floating in the water! + +### Hydrodynamics + +I know, I know, it looks like a dancing catamaran. The reason for that behavior +is because we don't have any drag yet to oppose the forces of the `Surface` +plugins. We need hydrodynamics! + +We will be using Fossen's equations which describe the motion of a craft through +the water for this. For better understanding of the parameters here, I would +refer you to [his book](https://www.wiley.com/en-sg/Guidance+and+Control+of+Ocean+Vehicles-p-9780471941132) +(check your library). +Usually these parameters can be found via fluid simulation programs or +experimental tests in a water tub. + +Uncomment the following block from +`~/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.sdf` to enable +hydrodynamics. + +```xml +<!-- Hydrodynamics --> +<plugin + filename="gz-sim-hydrodynamics-system" + name="gz::sim::systems::Hydrodynamics"> + <link_name>base_link</link_name> + <xDotU>0.0</xDotU> + <yDotV>0.0</yDotV> + <nDotR>0.0</nDotR> + <xU>-51.3</xU> + <xAbsU>-72.4</xAbsU> + <yV>-40.0</yV> + <yAbsV>0.0</yAbsV> + <zW>-500.0</zW> + <kP>-50.0</kP> + <mQ>-50.0</mQ> + <nR>-400.0</nR> + <nAbsR>0.0</nAbsR> +</plugin> +``` + +And run Gazebo: + +```bash +colcon build --merge-install +gz sim -r src/gazebo_maritime/worlds/sydney_regatta.sdf +``` + +The WAM-V is much more stable now and see how it moves following the movement +of the waves. + +You could experiment with the wavefield parameters to see different behaviors +of the WAM-V floating on the waves. For example, update the following block +in the `~/gazebo_maritime_ws/src/gazebo_maritime/worlds/sydney_regatta.sdf` +world file: + +```xml +<!-- The wave field --> +<plugin filename="libPublisherPlugin.so" name="maritime::PublisherPlugin"> + <message type="gz.msgs.Param" topic="/gazebo/wavefield/parameters" + every="2.0"> + params { + key: "direction" + value { + type: DOUBLE + double_value: 0.0 + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + </message> +</plugin> +``` + +The gain parameter has been increased to `0.8` producing bigger waves. You +should expect your WAM-V to move more agresively up and down. + +Both the `WaveVisual` plugin (used for rendering the waves) and the `Surface` +plugin (used to simulate the physics of the waves) are updated via the same +topic. The `PublisherPlugin` periodically publishes the wavefield parameters +to make sure that all the wave-related plugins work with the same wavefield +parameters. + +### Thruster + +We need the vehicle to move, so we will be adding the `Thruster` plugin. In the +case of the WAM-V, we need two thrusters. Each thruster plugin takes in a force +and applies it along with calculating the desired rpm. Uncomment the following +block from your +`~/gazebo_maritime_ws/src/gazebo_maritime/models/wam-v/model.sdf` model: + +```xml +<plugin + filename="gz-sim-thruster-system" + name="gz::sim::systems::Thruster"> + <joint_name>left_engine_propeller_joint</joint_name> + <thrust_coefficient>0.004422</thrust_coefficient> + <fluid_density>1000</fluid_density> + <propeller_diameter>0.2</propeller_diameter> + <velocity_control>true</velocity_control> +</plugin> + +<plugin + filename="gz-sim-joint-position-controller-system" + name="gz::sim::systems::JointPositionController"> + <joint_name>left_chasis_engine_joint</joint_name> + <use_velocity_commands>true</use_velocity_commands> + <topic>/wamv/left/thruster/joint/cmd_pos</topic> +</plugin> + +<plugin + filename="gz-sim-thruster-system" + name="gz::sim::systems::Thruster"> + <joint_name>right_engine_propeller_joint</joint_name> + <thrust_coefficient>0.004422</thrust_coefficient> + <fluid_density>1000</fluid_density> + <propeller_diameter>0.2</propeller_diameter> + <velocity_control>true</velocity_control> +</plugin> + +<plugin + filename="gz-sim-joint-position-controller-system" + name="gz::sim::systems::JointPositionController"> + <joint_name>right_chasis_engine_joint</joint_name> + <use_velocity_commands>true</use_velocity_commands> + <topic>/wamv/right/thruster/joint/cmd_pos</topic> +</plugin> +``` + +And start Gazebo again: + +```bash +colcon build --merge-install +gz sim -r src/gazebo_maritime/worlds/sydney_regatta.sdf +``` + +Send a command to rotate the left thruster: + +```bash +gz topic -t /wamv/left/thruster/joint/cmd_pos -m gz.msgs.Double -p 'data: -0.15' +``` + +Send a command to spin the right propeler: + +```bash +gz topic -t /model/wam-V/joint/right_engine_propeller_joint/cmd_thrust -m gz.msgs.Double -p 'data: 10.00' +``` + +And see how your WAM-V starts moving, bon voyage! diff --git a/tutorials/terminology.md b/tutorials/terminology.md index 8b812fbf37..7103fee7ec 100644 --- a/tutorials/terminology.md +++ b/tutorials/terminology.md @@ -22,7 +22,7 @@ to developers touching the source code. can also create their own by inheriting from the \ref gz::sim::components::BaseComponent "BaseComponent" class or instantiating a template of - \ref gz::sim::components::Component "Component" + \ref gz::sim::components::Component "Component". * **System**: Logic that operates on all entities that have a given set of components. Systems are plugins that can be loaded at runtime. diff --git a/tutorials/theory_buoyancy.md b/tutorials/theory_buoyancy.md new file mode 100644 index 0000000000..f464ad8fc1 --- /dev/null +++ b/tutorials/theory_buoyancy.md @@ -0,0 +1,98 @@ +\page theory_buoyancy + +# Overview + +This tutorial describes the theory of operation of the buoyancy plugin, an +essential piece needed in most of the maritime simulations. + +# The buoyancy plugin + +This plugin is attached to the world to provide certain buoyancy to the +vehicles. The buoyancy force opposes gravity exerted on the robot. The +parameters of the plugin are configured via SDF in the world file. Check the +[Buoyancy.hh](https://github.com/gazebosim/gz-sim/blob/gz-sim8/src/systems/buoyancy/Buoyancy.hh) +Gazebo header file for a complete description of all the accepted parameters. + +The buoyancy plugin uses the `<collision>` elements of each SDF model to compute +the volume of fluid displaced. + +A common pattern for the maritime domain is to create very thin collision +elements surrounding the vehicle (with low volume) and a separate collision +element within the vehicle itself. The collection of low volume collision +elements work as a shell to generate contacts when necessary. The extra +collision element is only used to generate the aggregated desired air volume. + +The outer set of collision elements in combination with the buoyancy collision +element induce forces at the center of each `<collision>` element. If you +followed the recommendation for creating low-volume outer collisions, the +predominant force will be applied at the center of the buoyancy collision +element. You can tune the location of that collision with the `<pose>` tag, +to match your expected center of buoyancy. + +The buoyancy force is proportional to the volume of air in the vehicle according +to this equation: + +$$volume\\_neutral = \frac{mass}{waterDensity}$$ + +Pure water's density is `1000 kgm^-3` and seawater's density is `1025 kgm^-3` +approximately. The mass of your vehicle is something that you'll decide or know +by adding the mass of all your links. With that in mind, you'll be able to +compute the volume of air that will make your vehicle neutrally buoyant. + +If your vehicle is neutrally buoyant, `volume_neutral` should be the total +amount of volume that you should have by adjusting the size of your +`<collision>` elements. If your vehicle is not neutrally buoyant, this value +will serve as a reference. If the total volume is smaller than `volume_neutral`, +the vehicle will sink. Otherwise, it will move up. + +The `<GAZEBO_INSTALL_PATH>/examples/worlds/buoyancy.sdf` SDF file (included with +Gazebo) contains an example with three submarines. The first submarine is +neutrally buoyant, the second sinks, and the third floats. Run the following +command to see an example of a buoyancy plugin configured with a uniform fluid +density: + +```bash +gz sim buoyancy.sdf +``` + +# Graded buoyancy + +Often when simulating a maritime environment one may need to simulate both +surface and underwater vessels. This means the buoyancy plugin needs to +take into account two different fluids. One being water with a density of +`~1000 kgm^-3` and another being air with a very light density of say `1 kgm^-3`. +An example for such a configuration may be found in the +`<GAZEBO_INSTALL_PATH>/examples/worlds/graded_buoyancy.sdf` world (included +with Gazebo). + +```bash +gz sim graded_buoyancy.sdf +``` + +You should be able to see a sphere bobbing up and down undergoing simple +harmonic motion on the surface of the fluid (this is expected behavior +as the harmonic motion is usually damped by the hydrodynamic forces. See the +hydrodynamics tutorial for an example of how to use it). The key part of this is + +```xml +<graded_buoyancy> + <default_density>1000</default_density> + <density_change> + <above_depth>0</above_depth> + <density>1</density> + </density_change> +</graded_buoyancy> +``` + +The default density tag says that by default the world has a fluid density +of `1000 kgm^-3`. This essentially states that by default the world is filled +with dihydrogen monoxide (aka water). The `<density_change>` tag essentially +establishes the fact that there is a another fluid. The `<above_depth>` tag says +that above z=0 there is another fluid with a different density. The density of +that fluid is defined by the `<density>` tag. We will be simulating air with a +fluid density of `1 kgm^-3`. + +# Known limitations + +When the buoyancy plugin is configured in `graded buoyancy mode`, only `<box>` +and `<sphere>` collision geometries are supported. diff --git a/tutorials/theory_hydrodynamics.md b/tutorials/theory_hydrodynamics.md new file mode 100644 index 0000000000..7f2c7cd5a5 --- /dev/null +++ b/tutorials/theory_hydrodynamics.md @@ -0,0 +1,175 @@ +\page theory_hydrodynamics + +# Overview + +This tutorial describes the theory of operation of the hydrodynamics plugin. +It's heavily based on [3], and we recommend to read the full paper for a deeper +understanding of its theory. + +# Understanding Hydrodynamic Forces + +The behavior of a moving body through water is different from the behavior of +a ground based vehicle. In particular bodies moving underwater experience much +more forces derived from drag, buoyancy and lift. The way these forces act on +a body can be seen in the following diagram: + +@image html "files/underwater_vehicles/MBARI forces.png" + +# The hydrodynamics plugin + +To approximate the motion of the vehicle in the ocean environment, we adapt +Fossen’s six degree-of-freedom robot-like vectorial model for marine craft [2] +expressed as + +$$M ẍ + D(αΊ‹)αΊ‹ + C(αΊ‹)αΊ‹ = F$$ + +where `M` is the added mass matrix, `D(αΊ‹)` is the damping matrix, `C(αΊ‹)` is the +Coriolis matrix, and `αΊ‹` is the velocity six-vector. + +If present, ocean current is approximated by adding a term `vc` to the velocity: + +$$M ẍ + D(αΊ‹ βˆ’ vc )(αΊ‹ βˆ’ vc ) + C(αΊ‹ βˆ’ vc )(αΊ‹ βˆ’ vc ) = F$$ + +The hydrodynamic forces include the added mass terms due to inertia of the +surrounding fluid, the Coriolis-centripetal matrix for the added mass, and +hydrodynamic damping. The hydrodynamic damping includes forces due to +radiation-induced potential damping, skin friction, wave drift damping, vortex +shedding and lifting forces. These effects are aggregated in the hydrodynamic +damping matrix. This approximation of the hydrodynamic effects is implemented in +this Gazebo plugin. The user defines the characteristics of the vessel under +test through a vessel-specific configuration that includes the hydrodynamic +derivatives. During each time step of the simulation, the plugin is executed +with access to the state of the vessel and environment. The hydrodynamic force +terms are calculated based on this state information and the user-defined vessel +characteristics. The resulting force and moment values are then applied to the +vessel through the Gazebo API for inclusion in the next iteration of the physics +engine. + +The parameters of the plugin are configured via SDF in the model file. +The next table summarizes all the available SDF parameters. + +Parameter | Description +------------------| ------------- +<xDotU> | Added mass in surge +<yDotV> | Added mass in sway +<zDotW> | Added mass in heave +<kDotP> | Added mass in roll +<mDotQ> | Added mass in pitch +<nDotR> | Added mass in yaw +<xUabsU> | Quadratic drag in surge +<xU> | Linear drag in surge +<yVabsV> | Quadratic drag in sway +<yV> | Linear drag in sway +<zWabsW> | Quadratic drag in heave +<zW> | Linear drag in heave +<kPabsP> | Quadratic drag in roll +<kP> | Linear drag in roll +<mQabsQ> | Quadratic drag in pitch +<mQ> | Linear drag in pitch +<nRabsR> | Quadratic drag in yaw +<nR> | Linear drag in yaw +<default_current> | Default ocean current vector + +**Note about added mass**: SDFormat also supports added mass natively. Until we +deprecate the added mass parameters of this plugin, do not set the added mass +parameters in both places, choose one (either in this plugin or under +`<inertial>` of your link). + +# A simple example + +Let's download the provided `buoyant_cylinder.sdf` world and run to see an +example of a cylinder with three plugins attached: + +* Buoyancy: It will make the cylinder float on the surface of the water. +* Hydrodynamics: It will simulate the damping generated by the fluid +surrounding the cylinder. +* Trajectory follower: It will apply some force to move the cylinder one meter +in the positive `X` direction. + +```bash +mkdir -p ~/gazebo_maritime/worlds +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf -O ~/gazebo_maritime/worlds/buoyant_cylinder.sdf +gz sim -r ~/gazebo_maritime/worlds/buoyant_cylinder.sdf +``` + +Observe how the cylinder does not sink, and slowly makes its way until it +reaches (1, 0, 0) in world coordinates. + +Now let's make a change in the hydrodynamics parameters. Considering that the +model only moves in `X` direction (or surge in the maritime terminology), we're +going to reduce the value of `<xUabsU>` and `<xU>` parameters. Update these +parameters to: + +```xml +<xUabsU>-0.32282</xUabsU> +<xU>-2.5</xU> +``` + +And run Gazebo again: + +```bash +gz sim -r ~/gazebo_maritime/worlds/buoyant_cylinder.sdf +``` + +Notice how the vehicle does not stop at the 1 meter mark. Instead, the cylinder +stops further. This is because we lowered the linear and quadratic drag in the +direction that the model is moving. + +Let's now try the opposite. Go ahead and update the same parameters to the +following values: + +```xml +<xUabsU>-3.5</xUabsU> +<xU>-20</xU> +``` + +And run Gazebo: + +```bash +gz sim -r ~/gazebo_maritime/worlds/buoyant_cylinder.sdf +``` + +See how slow the cylinder moves. With these set of parameters we increased the +damping in the surge axis, causing the vehicle to slowly move towards its goal. + +# Experimental - How to tune the parameters + +The hydrodynamics plugin requires a large number of parameters to model the +added mass and drag behaviors of underwater vehicles. This section describes a +method to generate an initial set of parameters for the hydrodynamics plugin. +Note these parameters need to be tested and possibly tweaked to guarantee model stability. + +## Added mass + +A python library called [Capytaine](https://github.com/capytaine/capytaine) can +be used to determine the added mass matrix of your vehicle. Capytaine enables +the user to import a mesh (.stl), define a set of linear potential flow problems +and solve these using the included Boundary Element Method (BEM) solver. + +Capytaine is typically used to model the interaction between floating bodies and +waves, however it can be applied to ROVs by setting the wave frequency and free +surface both to infinity (this assumes that the added mass is approximately +constant since the ROV does not operate near the wave zone and that it operates +in infinitely deep water respectively) [1] (p.14), [2] (p.18). + +Furthermore, it is recommended to use a simplified mesh when computing the added +mass with Capytaine, since a complex mesh is computationally prohibitive. + +## Linear and quadratic damping + +Computing the linear and quadratic damping coefficients is generally not +possible using computational analysis and is usually done experimentally +[1] (p.28). If determining the damping coefficients experimentally is not +feasible, the same method described by Berg2012 can be used to estimate these +values from a similar ROV [1] (p.28-31). + +# References + +[1] BERG, V. Development and Commissioning of a DP system for ROV SF 30k, +2012. + +[2] FOSSEN , T. I. Lecture notes: Ttk 4190 guidance, navigation and control of +vehicles, February 2021. + +[3] BINGHAM, B. et al., Toward Maritime Robotic Simulation in Gazebo, Oceans +Conference, 2019. diff --git a/tutorials/underwater_vehicles.md b/tutorials/underwater_vehicles.md index e26f52ae73..86d76ba995 100644 --- a/tutorials/underwater_vehicles.md +++ b/tutorials/underwater_vehicles.md @@ -1,75 +1,193 @@ -\page underwater_vehicles Underwater vehicles +\page underwater_vehicles -## Simulating Autonomous Underwater Vehicles +# Overview Gazebo now supports basic simulation of underwater vehicles. This capability is based on the equations described in Fossen's ["Guidance and Control of Ocean Vehicles"](https://www.wiley.com/en-sg/Guidance+and+Control+of+Ocean+Vehicles-p-9780471941132). This tutorial will guide you through the steps you need to setup simulation of an underwater vehicle. In this tutorial, we will -guide you through the setup of the [MBARI Tethys](https://app.gazebosim.org/accurrent/fuel/models/MBARI%20Tethys%20LRAUV). -One can find the final sdf file for this tutorial in the -`examples/worlds/auv_controls.sdf` file. - -## Understanding Hydrodynamic Forces - -The behaviour of a moving body through water is different from the behaviour of -a ground based vehicle. In particular bodies moving underwater experience much -more forces derived from drag, buoyancy and lift. The way these forces act on -a body can be seen in the following diagram: -![force diagram](https://raw.githubusercontent.com/gazebosim/gz-sim/ign-gazebo5/tutorials/files/underwater/MBARI%20forces.png) - -## Setting up the buoyancy plugin - -The buoyancy plugin in Gazebo uses the collision mesh to calculate the volume -of the vehicle. The calculated volume is used to determine the buoyancy force, -which is then applied at the pose of the collision mesh in the link frame. Note -that this may be a different location from the center of volume. - -Additionally, it needs to know the density of the fluid in which -it is moving. By default this is set to 1000kgm^-3. However, in real life this -may vary depending on many factors like depth, salinity of water etc. To add -the buoyancy plugin all one needs to do is add the following under the `<world>` -tag: +guide you through the setup of the [MBARI LRAUV](https://app.gazebosim.org/accurrent/fuel/models/MBARI%20Tethys%20LRAUV). + +## Related tutorials + +https://gazebosim.org/api/sim/8/create_vehicle.html + +https://gazebosim.org/api/sim/8/adding_visuals.html + +https://gazebosim.org/api/sim/8/frame_reference.html + +https://gazebosim.org/api/sim/8/adding_system_plugins.html + +https://gazebosim.org/api/sim/8/theory_buoyancy.html + +https://gazebosim.org/api/sim/8/theory_hydrodynamics.html + +# Create your vehicle + +As an example, we'll go through the process of creating an MBARI LRAUV +underwater vehicle. + +Create a workspace to store your brand new model named `my_lrauv`. + +```bash +mkdir -p ~/gazebo_maritime/models/my_lrauv/materials/textures +mkdir -p ~/gazebo_maritime/models/my_lrauv/meshes +``` + +Download all the files from here and copy them within that directory: + +```bash +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/model.config -O ~/gazebo_maritime/models/my_lrauv/model.config +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/model.sdf -O ~/gazebo_maritime/models/my_lrauv/model.sdf +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Albedo.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Albedo.png +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Metalness.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Metalness.png +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Normal.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Normal.png +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Roughness.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Roughness.png +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/meshes/base.dae -O ~/gazebo_maritime/models/my_lrauv/meshes/base.dae +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/meshes/propeller.dae -O ~/gazebo_maritime/models/my_lrauv/meshes/propeller.dae +wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/meshes/tethys.dae -O ~/gazebo_maritime/models/my_lrauv/meshes/tethys.dae +``` + +Open with your favorite editor `~/gazebo_maritime/models/my_lrauv/model.sdf`. + +Notice how the vehicle has been divided into multiple links: chassis, horizontal +fins, vertical fins, and a propeller. This is a very common division in vehicles +that contain one or more thrusters and some control surfaces. Both the propeller +and the control surfaces are movable, thus we need to create separate links for +them. + +At the bottom of the `model.sdf` file, you'll find the three joints that connect +the horizontal fins, vertical fins, and propeller to the main chassis +respectively. All of them are `revolute` joints, but with different upper and +lower limits. While the propeller does not have any limits (to allow infinite +rotation), the fins have lower values to constraint the amount of movement of +the fin. Again, this is a very common pattern that you'll need to configure +based on the specs of your vehicle. + +Let's run the simulation: + +```bash +gz sim ~/gazebo_maritime/models/my_lrauv/model.sdf +``` + +You should see Gazebo with your LRAUV loaded. If you hit play, your robot will +sadly sink. The good news is that this is expected as we did not attach any +plugins to the LRAUV model. Let's do that! + +# Adding buoyancy + +The first thing we need to decide is how much buoyancy we want to provide to our +vehicle. In the LRAUV case, we want a robot with neutral buoyancy. In other +words, our robot should maintain depth when stationary. + +Buoyancy works by opposing the weight of the vehicle. In order to compute the +amount of buoyancy force, first we need to sum the total weight of our LRAUV. +There's a total of `148.3571` kg (`147.8671` + `0.2` + `0.2` + `0.09` kgs) when +we add the mass of the chassis, fins and propeller. The buoyancy force is +proportional the volume of air in the vehicle according to this equation: + +$$volume\\_neutral = \frac{mass}{waterDensity}$$ + +In our case: + +$$volume\\_neutral = \frac{148.3571}{1000} = 0.1483571$$ + +That's the total volume of air that our vehicle should contain to keep the robot +neutral. If the volume is smaller, the vehicle will sink. If the vehicle's +volume is bigger, it will move up. The buoyancy plugin uses all the +`<collision>` elements of the model to compute volume. + +Let's verify the total amount of air volume in our vehicle adding up the volumes +of all the collision elements: + +$$volume = (2 * 0.3 * 0.2464451666666667) + (0.1 * 0.1 * 0.02) + (0.1 * 0.1 * 0.02) + (0.03 * 0.1 * 0.03) = 0.14835710000000002$$ + +This is the volume that we were looking for to achieve neutral buoyancy. Let's +test it! Uncomment the lines in `model.sdf:18--24` to restore the buoyancy and +launch the simulation: + +Let's now download the following world that includes the buoyancy plugin: + +```bash +mkdir -p ~/gazebo_maritime/worlds +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/buoyant_lrauv.sdf -O ~/gazebo_maritime/worlds/buoyant_lrauv.sdf +export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models +``` + +And launch Gazebo: + +```bash +gz sim ~/gazebo_maritime/worlds/buoyant_lrauv.sdf +``` + +Now your LRAUV should stay in place! Let's experiment with the buoyancy values. +Edit the `main_body_buoyancy` geometry in your `model.sdf` to be: + ```xml -<plugin - filename="gz-sim-buoyancy-system" - name="gz::sim::systems::Buoyancy"> - <uniform_fluid_density>1000</uniform_fluid_density> -</plugin> +<box> + <size>2 0.3 0.24</size> +</box> ``` -## Setting up the thrusters +And now relaunch the simulation: + +```bash +gz sim ~/gazebo_maritime/worlds/buoyant_lrauv.sdf +``` + +Your LRAUV should slowly sink. Feel free to experiment with other buoyancy +values but remember to restore the original value: + +```xml +<box> + <size>2 0.3 0.2464451666666667</size> +</box> +``` + +# Adding thrusters We need the vehicle to move, so we will be adding the `Thruster` plugin. The -thruster plugin takes in a force and applies it along with calculating the desired -rpm. Under the `<include>` or `<model>` tag add the following: +thruster plugin takes in a force and applies it along with calculating the +desired rpm. Uncomment the following block from your `buoyant_lrauv.sdf` world: + ```xml <plugin - filename="gz-sim-thruster-system" - name="gz::sim::systems::Thruster"> - <namespace>tethys</namespace> - <joint_name>propeller_joint</joint_name> - <thrust_coefficient>0.004422</thrust_coefficient> - <fluid_density>1000</fluid_density> - <propeller_diameter>0.2</propeller_diameter> + filename="gz-sim-thruster-system" + name="gz::sim::systems::Thruster"> + <namespace>my_lrauv</namespace> + <use_angvel_cmd>0</use_angvel_cmd> + <joint_name>propeller_joint</joint_name> + <thrust_coefficient>0.004422</thrust_coefficient> + <fluid_density>1000</fluid_density> + <propeller_diameter>0.2</propeller_diameter> </plugin> ``` -Now if we were to publish to `/model/tethys/joint/propeller_joint/cmd_thrust` + +And start the simulation: + +```bash +gz sim -r ~/gazebo_maritime/worlds/buoyant_lrauv.sdf ``` -gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \ - -m gz.msgs.Double -p 'data: -31' + +Now if we were to publish to `/model/my_lrauv/joint/propeller_joint/cmd_thrust` + +```bash +gz topic -t /model/my_lrauv/joint/propeller_joint/cmd_thrust -m gz.msgs.Double -p 'data: -15' ``` -we should see the model move. The thrusters are governed by the equation on + +We should see the model move. The thrusters are governed by the equation on page 246 of Fossen's book. In particular it relates force to rpm as follows: -`Thrust = fluid_density * RPM^2 * thrust_constant * propeller blade size^4`. + +$$thrust = fluid\\_density * RPM^2 * thrust\\_constant * propeller\\_blade\\_size^4$$ + The plugin takes in commands in newtons. So if you have a different thrust curve you can still use the plugin with some type of adapter script. The thrust constant is normally determined by individual manufacturers. In this case we are -using the Tethys's thrust coefficient. you may also build a test rig to measure +using the LRAUV's thrust coefficient. you may also build a test rig to measure your thruster's thrust coefficient. -## Adding Hydrodynamic behaviour +# Adding hydrodynamics You may notice that the robot now keeps getting faster and faster. This is because there is no drag to oppose the thruster's force. We will be using @@ -77,125 +195,134 @@ Fossen's equations which describe the motion of a craft through the water for this. For better understanding of the parameters here, I would refer you to his book. Usually these parameters can be found via fluid simulation programs or experimental tests in a water tub. + +Uncomment the following block from `buoyant_lrauv.sdf` to enable hydrodynamics. + ```xml <plugin filename="gz-sim-hydrodynamics-system" name="gz::sim::systems::Hydrodynamics"> - <link_name>base_link</link_name> - <xDotU>-4.876161</xDotU> - <yDotV>-126.324739</yDotV> - <zDotW>-126.324739</zDotW> - <kDotP>0</kDotP> - <mDotQ>-33.46</mDotQ> - <nDotR>-33.46</nDotR> - <xUabsU>-6.2282</xUabsU> - <xU>0</xU> - <yVabsV>-601.27</yVabsV> - <yV>0</yV> - <zWabsW>-601.27</zWabsW> - <zW>0</zW> - <kPabsP>-0.1916</kPabsP> - <kP>0</kP> - <mQabsQ>-632.698957</mQabsQ> - <mQ>0</mQ> - <nRabsR>-632.698957</nRabsR> - <nR>0</nR> + <link_name>base_link</link_name> + <xDotU>-4.876161</xDotU> + <yDotV>-126.324739</yDotV> + <zDotW>-126.324739</zDotW> + <kDotP>0</kDotP> + <mDotQ>-33.46</mDotQ> + <nDotR>-33.46</nDotR> + <xUabsU>-6.2282</xUabsU> + <xU>0</xU> + <yVabsV>-601.27</yVabsV> + <yV>0</yV> + <zWabsW>-601.27</zWabsW> + <zW>0</zW> + <kPabsP>-0.1916</kPabsP> + <kP>0</kP> + <mQabsQ>-632.698957</mQabsQ> + <mQ>0</mQ> + <nRabsR>-632.698957</nRabsR> + <nR>0</nR> </plugin> ``` -## Control surfaces +# Adding control surfaces Just like aeroplanes, an underwater vehicle may also use fins for stability and control. Fortunately, Gazebo already has a version of the LiftDrag plugin. In this tutorial, we will simply add two liftdrag plugins to the rudder and -elevator of MBARI's Tethys. For more info about the liftdrag plugin including +elevator of MBARI's LRAUV. For more info about the liftdrag plugin including what the parameters mean, you may look at [this gazebo classic tutorial](http://gazebosim.org/tutorials?tut=aerodynamics&cat=physics). Essentially when we tilt the fins, we should experience a lift force which will cause the vehicle to experience a torque and the vehicle should start turning when we move. +These are the relevant blocks to enable the LiftDrag plugins. They're already +attached to the model for you. + ```xml <!-- Vertical fin --> <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> - <air_density>1000</air_density> - <cla>4.13</cla> - <cla_stall>-1.1</cla_stall> - <cda>0.2</cda> - <cda_stall>0.03</cda_stall> - <alpha_stall>0.17</alpha_stall> - <a0>0</a0> - <area>0.0244</area> - <upward>0 1 0</upward> - <forward>1 0 0</forward> - <link_name>vertical_fins</link_name> - <cp>0 0 0</cp> + <air_density>1000</air_density> + <cla>4.13</cla> + <cla_stall>-1.1</cla_stall> + <cda>0.2</cda> + <cda_stall>0.03</cda_stall> + <alpha_stall>0.17</alpha_stall> + <a0>0</a0> + <area>0.0244</area> + <upward>0 1 0</upward> + <forward>1 0 0</forward> + <link_name>vertical_fins</link_name> + <cp>0 0 0</cp> </plugin> <!-- Horizontal fin --> <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> - <air_density>1000</air_density> - <cla>4.13</cla> - <cla_stall>-1.1</cla_stall> - <cda>0.2</cda> - <cda_stall>0.03</cda_stall> - <alpha_stall>0.17</alpha_stall> - <a0>0</a0> - <area>0.0244</area> - <upward>0 0 1</upward> - <forward>1 0 0</forward> - <link_name>horizontal_fins</link_name> - <cp>0 0 0</cp> + <air_density>1000</air_density> + <cla>4.13</cla> + <cla_stall>-1.1</cla_stall> + <cda>0.2</cda> + <cda_stall>0.03</cda_stall> + <alpha_stall>0.17</alpha_stall> + <a0>0</a0> + <area>0.0244</area> + <upward>0 0 1</upward> + <forward>1 0 0</forward> + <link_name>horizontal_fins</link_name> + <cp>0 0 0</cp> </plugin> ``` -The numbers in this case were kindly provided by MBARI for the Tethys. + +The numbers in this case were kindly provided by MBARI for the LRAUV. We also need to be able to control the position of the thruster fins so we will -use the joint controller plugin. +use the joint controller plugin. These are the relevant blocks to enable the +control surfaces. They're already attached to the model for you. + ```xml <plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> - <joint_name>horizontal_fins_joint</joint_name> - <p_gain>0.1</p_gain> + <joint_name>horizontal_fins_joint</joint_name> + <p_gain>0.1</p_gain> </plugin> <plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> - <joint_name>vertical_fins_joint</joint_name> - <p_gain>0.1</p_gain> + <joint_name>vertical_fins_joint</joint_name> + <p_gain>0.1</p_gain> </plugin> ``` -We should now be able to wiggle the fins using the following command: -``` -gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \ - -m gz.msgs.Double -p 'data: -0.17' -``` -## Testing the system out +Launch Gazebo: -To control the rudder of the craft run the following +```bash +gz sim -r ~/gazebo_maritime/worlds/buoyant_lrauv.sdf ``` -gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \ - -m gz.msgs.Double -p 'data: -0.17' -``` -To apply a thrust you may run the following command -``` -gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \ --m gz.msgs.Double -p 'data: -31' + +We should now be able to wiggle the fins using the following command: + +```bash +gz topic -t /model/my_lrauv/joint/vertical_fins_joint/0/cmd_pos -m gz.msgs.Double -p 'data: -0.17' ``` -The vehicle should move in a circle. -## Ocean Currents +Now apply some thrust: -When underwater, vehicles are often subject to ocean currents. The hydrodynamics -plugin allows simulation of such currents. We can add a current simply by -publishing the following: +```bash +gz topic -t /model/my_lrauv/joint/propeller_joint/cmd_thrust -m gz.msgs.Double -p 'data: -15' ``` -gz topic -t /ocean_current -m gz.msgs.Vector3d -p 'x: 1, y:0, z:0' + +@image html files/underwater_vehicles/lrauv_turn_left.png + +And observe how the LRAUV turns due to the rudder's position. You can stop the +propeller with: + +```bash +gz topic -t /model/my_lrauv/joint/propeller_joint/cmd_thrust -m gz.msgs.Double -p 'data: 0' ``` -You should observe your vehicle slowly drift to the side. + +And observe how eventually the LRAUV stops due to the water drag. diff --git a/tutorials/using_components.md b/tutorials/using_components.md new file mode 100644 index 0000000000..717beea566 --- /dev/null +++ b/tutorials/using_components.md @@ -0,0 +1,74 @@ +\page usingcomponents Using Components in a System Plugin + +Gazebo uses the entity component system (ECS) software architecture. +See the [Terminology](./terminology.html) page for the definitions of entity, +component, system, and entity component manager (ECM) used in this tutorial. +In short, a simulation world consists of many entities, each of which is +associated with a set of components. + +System plugins can modify the simulation world by manipulating components. +The basic structure of a system plugin is outlined in the +[tutorial on creating system plugins](./createsystemplugins.html). + +Here, we will explain how a system can use components to modify the world. +You can view the list of \ref gz::sim::components in the API. + +Programmatic usage of components can be found in +[built-in systems](https://github.com/gazebosim/gz-sim/tree/gz-sim8/src/systems) +and [integration tests](https://github.com/gazebosim/gz-sim/blob/gz-sim8/test/integration) +in the source code. +Most of the built-in systems have a corresponding example SDF world. +You can find all the example worlds [here](https://github.com/gazebosim/gz-sim/tree/gz-sim8/examples/worlds). + +## Prerequisites + +This is a tutorial for developers or advanced users. +It assumes that you are familiar with basic usage of Gazebo. + +Prior to starting this tutorial, these other tutorials will help with +understanding: +- [Terminology](./terminology.html) +- [Create system plugins](./createsystemplugins.html) + +## Resources + +Quick access to resources mentioned in this tutorial: +- List of \ref gz::sim::components in the API +- List of \ref gz::sim::systems in the API +- Source code of [built-in systems](https://github.com/gazebosim/gz-sim/tree/gz-sim8/src/systems) +- Source code of [example worlds](https://github.com/gazebosim/gz-sim/tree/gz-sim8/examples/worlds) +- Source code of [integration tests](https://github.com/gazebosim/gz-sim/blob/gz-sim8/test/integration) + +## Entity Component Manager (ECM) + +The gateway to interact with entities is through the +\ref gz::sim::EntityComponentManager +([source code](https://github.com/gazebosim/gz-sim/blob/gz-sim8/include/gz/sim/EntityComponentManager.hh)), +ECM for short. +The ECM gives us access to all the entities, each of which gives us access +to its associated components. + +An ECM object is passed into all of the interfaces in a system, including +`ISystemConfigure()` and `ISystem*Update()`. +The signatures of those interfaces are specified in +\ref gz/sim/System.hh and explained in the +[tutorial on creating system plugins](./createsystemplugins.html). +We will assume that these interfaces are implemented in functions called +`Configure()` and `*Update()` in a system. + +Note that when `Configure()` is called, all the elements in the parent element +of the plugin have been loaded. +For example, if the plugin is attached to a `<model>`, all the elements in that +`<model>` would have been loaded. +Similarly for `<world>`. +However, if you need to access entities outside the plugin's parent element, +they may not have finished loading at the time the plugin's `Configure()` is +called. +Then you may need to access those entities later, in `*Update()`. + +## Case studies + +The rest of the tutorial is case studies that walk through the usage of +specific components. + +- \subpage jointforcecmdcomponent "JointForceCmd"