From 9b03464afdae461cd56bd9e1d36d075f85e60468 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 19 Sep 2024 01:06:51 +0000 Subject: [PATCH 1/3] Added bullet-featherstone and mesh optimization highlights Signed-off-by: Ian Chen --- highlights.md | 38 ++++++++++++++++++++++++++++++++++++++ release_notes.md | 12 ++++++++++++ 2 files changed, 50 insertions(+) diff --git a/highlights.md b/highlights.md index 98d8891..595ed64 100644 --- a/highlights.md +++ b/highlights.md @@ -17,6 +17,44 @@ logger->trace("π to 5th decimal = {:.5f}\n", M_PI); ``` +- Improvements to the bullet-featherstone physics plugin + + - Many new features and bugfixes were made to the bullet-featherstone plugin + in gz-physics, which include support for nested models, + off-diagonal inertia, enforcing joint velocity and effort limits, + configuring solver iterations, and more. There are also features for + performance improvements and physics stability such as auto-deactivation, + static object collision optimization, and use of convex hull shapes for + convex decomposed meshes. + +- [Support for mesh optimization](https://github.com/gazebosim/gz-sim/pull/2417), +[gzsim#2352](https://github.com/gazebosim/gz-sim/pull/2352), +[gz-common#585](https://github.com/gazebosim/gz-common/pull/585), +[sdformat#1382](https://github.com/gazebosim/gz-common/pull/585), and +[gz-physics#606](https://github.com/gazebosim/gz-physics/pull/606) + + - Added support for mesh optimization on the collision mesh. Users can now + specify whether or not to perform mesh optimization on a + collision mesh in SDF (requires SDF spec version >= 1.11). Two optimization + methods are currently supported: `convex_decomposition` and `convex_hull`. + Gazebo uses the open source + [V-HACD](https://github.com/kmammou/v-hacd) library to perform + convex decomposition to split the mesh into multiple submeshes. + Example SDF usage: + + + ```xml + + + + 16 + 400000 + + /path/to/mesh.dae + + + ``` + ## Bug Fixes ## Breaking Changes diff --git a/release_notes.md b/release_notes.md index 552584c..571d2ea 100644 --- a/release_notes.md +++ b/release_notes.md @@ -14,3 +14,15 @@ - [bazel:Add license checking support](https://github.com/gazebosim/gz-utils/pull/108) - [Add package.xml](https://github.com/gazebosim/gz-utils/pull/125) - [Require cmake version 3.22.1](https://github.com/gazebosim/gz-utils/pull/132) + + +## gazebosim/gz-physics: + +- [Improve bullet-featherstone physics plugin + * [Added support for nested model](https://github.com/gazebosim/gz-physics/pull/574) + * [Added support for off-diagnoal inertial](https://github.com/gazebosim/gz-physics/pull/574) + * [Optimized static object collisions](https://github.com/gazebosim/gz-physics/pull/611) + * [Improve mesh collision stability](https://github.com/gazebosim/gz-physics/pull/600) + * [Enable auto deactivation](https://github.com/gazebosim/gz-physics/pull/630) + * [Added support for mesh convex decomposition](https://github.com/gazebosim/gz-physics/pull/606) + * [Enforced joint velocity and effort limits for velocity control commands](https://github.com/gazebosim/gz-physics/pull/658) From dd39cf90a84a2752e6841a17ea496b29b9a29b49 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 19 Sep 2024 01:14:53 +0000 Subject: [PATCH 2/3] update release notes Signed-off-by: Ian Chen --- release_notes.md | 32 ++++++++++++++++++++++++-------- 1 file changed, 24 insertions(+), 8 deletions(-) diff --git a/release_notes.md b/release_notes.md index 571d2ea..f60e593 100644 --- a/release_notes.md +++ b/release_notes.md @@ -18,11 +18,27 @@ ## gazebosim/gz-physics: -- [Improve bullet-featherstone physics plugin - * [Added support for nested model](https://github.com/gazebosim/gz-physics/pull/574) - * [Added support for off-diagnoal inertial](https://github.com/gazebosim/gz-physics/pull/574) - * [Optimized static object collisions](https://github.com/gazebosim/gz-physics/pull/611) - * [Improve mesh collision stability](https://github.com/gazebosim/gz-physics/pull/600) - * [Enable auto deactivation](https://github.com/gazebosim/gz-physics/pull/630) - * [Added support for mesh convex decomposition](https://github.com/gazebosim/gz-physics/pull/606) - * [Enforced joint velocity and effort limits for velocity control commands](https://github.com/gazebosim/gz-physics/pull/658) +- Improve bullet-featherstone physics plugin: + - [Add support for nested model](https://github.com/gazebosim/gz-physics/pull/574) + - [Add support for off-diagnoal inertial](https://github.com/gazebosim/gz-physics/pull/574) + - [Optimize static object collisions](https://github.com/gazebosim/gz-physics/pull/611) + - [Improve mesh collision stability](https://github.com/gazebosim/gz-physics/pull/600) + - [Enable auto deactivation](https://github.com/gazebosim/gz-physics/pull/630) + - [Add support for mesh convex decomposition](https://github.com/gazebosim/gz-physics/pull/606) + - [Enforce joint velocity and effort limits for velocity control commands](https://github.com/gazebosim/gz-physics/pull/658) + + +## gazebosim/gz-common: + +- [Adds new function in MeshManager for performing convex decomposition](https://github.com/gazebosim/gz-common/pull/585) + + +## gazebosim/gz-sim: + +- [Support visualizing mesh collisions with convex decomposition](https://github.com/gazebosim/gz-sim/pull/2352) +- [Support mesh optimization when using AttachMeshShapeFeature](https://github.com/gazebosim/gz-sim/pull/2417) + + +## gazebosim/sdformat: + +- [Add mesh optimization attribute to ](https://github.com/gazebosim/sdformat/pull/1382), [sdformat#1403](https://github.com/gazebosim/sdformat/pull/1403) From f446c32399e2967920d9463a898841a60102fa19 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Fri, 20 Sep 2024 15:51:42 -0500 Subject: [PATCH 3/3] Add backticks. Signed-off-by: Addisu Z. Taddese --- release_notes.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/release_notes.md b/release_notes.md index f60e593..d702986 100644 --- a/release_notes.md +++ b/release_notes.md @@ -41,4 +41,4 @@ ## gazebosim/sdformat: -- [Add mesh optimization attribute to ](https://github.com/gazebosim/sdformat/pull/1382), [sdformat#1403](https://github.com/gazebosim/sdformat/pull/1403) +- [Add mesh optimization attribute to ``](https://github.com/gazebosim/sdformat/pull/1382), [sdformat#1403](https://github.com/gazebosim/sdformat/pull/1403)