From b3731d6a1c2812fbd99a0ac9c079b8e0d5ec855b Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 30 Aug 2023 23:50:31 -0500 Subject: [PATCH 01/50] Remove forward-ported restriction on model loading (#2104) Signed-off-by: Michael Carroll --- src/Server.cc | 8 -------- 1 file changed, 8 deletions(-) diff --git a/src/Server.cc b/src/Server.cc index 6f1eb37390..28a3d01725 100644 --- a/src/Server.cc +++ b/src/Server.cc @@ -160,14 +160,6 @@ Server::Server(const ServerConfig &_config) return; } - if (this->dataPtr->sdfRoot.WorldCount() == 0) - { - gzerr << "SDF file doesn't contain a world. " << - "If you wish to spawn a model, use the ResourceSpawner GUI plugin " << - "or the 'world//create' service.\n"; - return; - } - // Add record plugin if (_config.UseLogRecord()) { From 52167a6e713c87b57d695c31005c98b7a736f51c Mon Sep 17 00:00:00 2001 From: Jasmeet Singh Date: Thu, 31 Aug 2023 20:33:55 +0530 Subject: [PATCH 02/50] Add automatic moment of inertia calculation for meshes (#2061) The PR implements a Moment of Inertia Calculator based on the method described in this document. The calculator works using the callback-based API from the sdformat made in this PR. --------- Signed-off-by: Jasmeet Singh Signed-off-by: Addisu Z. Taddese Co-authored-by: Addisu Z. Taddese --- src/CMakeLists.txt | 2 + src/MeshInertiaCalculator.cc | 277 ++++++++++++++++++ src/MeshInertiaCalculator.hh | 134 +++++++++ src/Server.cc | 19 +- test/integration/CMakeLists.txt | 1 + test/integration/mesh_inertia_calculation.cc | 129 ++++++++ test/worlds/mesh_inertia_calculation.sdf | 16 + .../models/cylinder_dae/meshes/cylinder.dae | 69 +++++ test/worlds/models/cylinder_dae/model.config | 16 + test/worlds/models/cylinder_dae/model.sdf | 47 +++ 10 files changed, 707 insertions(+), 3 deletions(-) create mode 100644 src/MeshInertiaCalculator.cc create mode 100644 src/MeshInertiaCalculator.hh create mode 100644 test/integration/mesh_inertia_calculation.cc create mode 100644 test/worlds/mesh_inertia_calculation.sdf create mode 100644 test/worlds/models/cylinder_dae/meshes/cylinder.dae create mode 100644 test/worlds/models/cylinder_dae/model.config create mode 100644 test/worlds/models/cylinder_dae/model.sdf diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 83adc9dc0d..6e666dafc9 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -73,6 +73,7 @@ set (sources LevelManager.cc Light.cc Link.cc + MeshInertiaCalculator.cc Model.cc Primitives.cc SdfEntityCreator.cc @@ -206,6 +207,7 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME} gz-math${GZ_MATH_VER} gz-plugin${GZ_PLUGIN_VER}::core gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common${GZ_COMMON_VER}::graphics gz-common${GZ_COMMON_VER}::profiler gz-fuel_tools${GZ_FUEL_TOOLS_VER}::gz-fuel_tools${GZ_FUEL_TOOLS_VER} gz-gui${GZ_GUI_VER}::gz-gui${GZ_GUI_VER} diff --git a/src/MeshInertiaCalculator.cc b/src/MeshInertiaCalculator.cc new file mode 100644 index 0000000000..e80f2cfd91 --- /dev/null +++ b/src/MeshInertiaCalculator.cc @@ -0,0 +1,277 @@ +/* + * 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 "MeshInertiaCalculator.hh" + +#include +#include + +#include +#include + +#include + +#include +#include +#include + +#include +#include +#include +#include + +using namespace gz; +using namespace sim; + +////////////////////////////////////////////////// +void MeshInertiaCalculator::GetMeshTriangles( + std::vector& _triangles, + const gz::common::Mesh* _mesh) +{ + // Get the vertices & indices of the mesh + double* vertArray = nullptr; + int* indArray = nullptr; + _mesh->FillArrays(&vertArray, &indArray); + + // Add check to see if size of the ind array is divisible by 3 + for (unsigned int i = 0; i < _mesh->IndexCount(); i += 3) + { + Triangle triangle; + triangle.v0.X() = vertArray[static_cast(3 * indArray[i])]; + triangle.v0.Y() = vertArray[static_cast(3 * indArray[i] + 1)]; + triangle.v0.Z() = vertArray[static_cast(3 * indArray[i] + 2)]; + triangle.v1.X() = vertArray[static_cast(3 * indArray[i+1])]; + triangle.v1.Y() = vertArray[static_cast(3 * indArray[i+1] + 1)]; + triangle.v1.Z() = vertArray[static_cast(3 * indArray[i+1] + 2)]; + triangle.v2.X() = vertArray[static_cast(3 * indArray[i+2])]; + triangle.v2.Y() = vertArray[static_cast(3 * indArray[i+2] + 1)]; + triangle.v2.Z() = vertArray[static_cast(3 * indArray[i+2] + 2)]; + triangle.centroid = (triangle.v0 + triangle.v1 + triangle.v2) / 3; + _triangles.push_back(triangle); + } +} + +////////////////////////////////////////////////// +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) +{ + // Some coefficients for the calculation of integral terms + const double coefficients[10] = {1.0 / 6, 1.0 / 24, 1.0 / 24, 1.0 / 24, + 1.0 / 60, 1.0 / 60, 1.0 / 60, 1.0 / 120, + 1.0 / 120, 1.0 / 120}; + + // Number of triangles of in the mesh + std::size_t numTriangles = _triangles.size(); + + // Vector to store cross products of 2 vectors of the triangles + std::vector crosses(numTriangles); + + // Caculating cross products of 2 vectors emerging from a common vertex + // This basically gives a vector normal to the plane of triangle + for (std::size_t i = 0; i < numTriangles; ++i) + { + crosses[i] = + (_triangles[i].v1 - _triangles[i].v0).Cross( + _triangles[i].v2 - _triangles[i].v0); + } + + // Calculate subexpressions of the integral + std::vector f1(numTriangles), f2(numTriangles), + f3(numTriangles), g0(numTriangles), g1(numTriangles), g2(numTriangles); + + for (std::size_t i = 0; i < numTriangles; ++i) + { + f1[i] = _triangles[i].v0 + _triangles[i].v1 + _triangles[i].v2; + f2[i] = _triangles[i].v0 * _triangles[i].v0 + + _triangles[i].v1 * _triangles[i].v1 + + _triangles[i].v0 * _triangles[i].v1 + + _triangles[i].v2 * f1[i]; + f3[i] = _triangles[i].v0 * _triangles[i].v0 * _triangles[i].v0 + + _triangles[i].v0 * _triangles[i].v0 * _triangles[i].v1 + + _triangles[i].v0 * _triangles[i].v1 * _triangles[i].v1 + + _triangles[i].v1 * _triangles[i].v1 * _triangles[i].v1 + + _triangles[i].v2 * f2[i]; + g0[i] = f2[i] + (_triangles[i].v0 + f1[i]) * (_triangles[i].v0); + g1[i] = f2[i] + (_triangles[i].v1 + f1[i]) * (_triangles[i].v1); + g2[i] = f2[i] + (_triangles[i].v2 + f1[i]) * (_triangles[i].v2); + } + + // Calculate integral terms + std::vector integral(10); + for (std::size_t i = 0; i < numTriangles; ++i) + { + double x0 = _triangles[i].v0.X(); + double y0 = _triangles[i].v0.Y(); + double z0 = _triangles[i].v0.Z(); + double x1 = _triangles[i].v1.X(); + double y1 = _triangles[i].v1.Y(); + double z1 = _triangles[i].v1.Z(); + double x2 = _triangles[i].v2.X(); + double y2 = _triangles[i].v2.Y(); + double z2 = _triangles[i].v2.Z(); + integral[0] += crosses[i].X() * f1[i].X(); + integral[1] += crosses[i].X() * f2[i].X(); + integral[2] += crosses[i].Y() * f2[i].Y(); + integral[3] += crosses[i].Z() * f2[i].Z(); + integral[4] += crosses[i].X() * f3[i].X(); + integral[5] += crosses[i].Y() * f3[i].Y(); + integral[6] += crosses[i].Z() * f3[i].Z(); + integral[7] += crosses[i].X() * + (y0 * g0[i].X() + y1 * g1[i].X() + y2 * g2[i].X()); + integral[8] += crosses[i].Y() * + (z0 * g0[i].Y() + z1 * g1[i].Y() + z2 * g2[i].Y()); + integral[9] += crosses[i].Z() * + (x0 * g0[i].Z() + x1 * g1[i].Z() + x2 * g2[i].Z()); + } + + for (int i = 0; i < 10; ++i) + { + integral[i] *= coefficients[i]; + } + + // 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); + 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()); + + // 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()); + + // Set the values in the MassMatrix object + _massMatrix.SetMass(mass); + _massMatrix.SetDiagonalMoments(ixxyyzz * _density); + _massMatrix.SetOffDiagonalMoments(ixyxzyz * _density); +} + +////////////////////////////////////////////////// +std::optional MeshInertiaCalculator::operator() + (sdf::Errors& _errors, + const sdf::CustomInertiaCalcProperties& _calculatorParams) +{ + const gz::common::Mesh *mesh = nullptr; + const double density = _calculatorParams.Density(); + + auto sdfMesh = _calculatorParams.Mesh(); + + if (sdfMesh == std::nullopt) + { + gzerr << "Could not calculate inertia for mesh " + "as it std::nullopt" << std::endl; + _errors.push_back({sdf::ErrorCode::FATAL_ERROR, + "Could not calculate mesh inertia as mesh object is" + "std::nullopt"}); + return std::nullopt; + } + + auto fullPath = asFullPath(sdfMesh->Uri(), sdfMesh->FilePath()); + + if (fullPath.empty()) + { + gzerr << "Mesh geometry missing uri" << std::endl; + _errors.push_back({sdf::ErrorCode::URI_INVALID, + "Attempting to load the mesh but the URI seems to be incorrect"}); + return std::nullopt; + } + + // Load the Mesh + gz::common::MeshManager *meshManager = gz::common::MeshManager::Instance(); + mesh = meshManager->Load(fullPath); + 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, 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; + } + + gz::math::Inertiald meshInertial; + + if (!meshInertial.SetMassMatrix(meshMassMatrix)) + { + return std::nullopt; + } + else + { + meshInertial.SetPose(centreOfMass); + return meshInertial; + } +} diff --git a/src/MeshInertiaCalculator.hh b/src/MeshInertiaCalculator.hh new file mode 100644 index 0000000000..62687d8ef8 --- /dev/null +++ b/src/MeshInertiaCalculator.hh @@ -0,0 +1,134 @@ +/* + * 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 GZ_SIM_MESHINERTIACALCULATOR_HH_ +#define GZ_SIM_MESHINERTIACALCULATOR_HH_ + +#include +#include + +#include +#include + +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include + + +namespace gz +{ + namespace sim + { + // Inline bracket to help doxygen filtering. + inline namespace GZ_SIM_VERSION_NAMESPACE + { + /// \struct Triangle gz/sim/MeshInertiaCalculator.hh + /// \brief A struct to represent a triangle of the mesh + /// An instance of the struct holds 3 Vector3D instances + /// each of which represents a vertex of the triangle & + /// one more Vector3D that represents the centroid of the + /// triangle + struct Triangle + { + gz::math::Vector3d v0, v1, v2; + + gz::math::Vector3d centroid; + }; + + /// \class MeshInertiaCalculator gz/sim/MeshInertiaCalculator.hh + /// \brief Inertial Properties (Mass, Centre of Mass & Moments of + /// Inertia) calculator for 3D meshes. + /// + /// This class overloads the () operator, therefore, an instance + /// of this class registered with libsdformat as a Custom + /// Inertia Calculator. This would be used to calculate the + /// inertial properties of 3D mesh using SDFormat. + /// + /// The calculation method used in this class is described here: + /// https://www.geometrictools.com/Documentation/PolyhedralMassProperties.pdf + /// and it works on triangle water-tight meshes for simple polyhedron + class MeshInertiaCalculator + { + /// \brief Constructor + public: MeshInertiaCalculator() = default; + + /// \brief Function to get the vertices & indices of the given mesh + /// & convert them into instances of the Triangle struct + /// Each triangle represents a triangle in the mesh & is added + /// to a vector + /// \param[out] _triangles A vector to hold all the Triangle + /// instances obtained + /// from the vertices & indices of the mesh + /// \param[in] _mesh Mesh object + public: void GetMeshTriangles( + std::vector& _triangles, + 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 + /// \param[in] _density Density of the mesh + /// \param[out] _massMatrix MassMatrix object to hold mass & + /// moment of inertia of the mesh + /// \param[out] _inertiaOrigin Pose3d object to hold the origin about + /// which the inertia tensor was calculated + public: void CalculateMassProperties( + const std::vector& _triangles, + double _density, + gz::math::MassMatrix3d& _massMatrix, + gz::math::Pose3d& _inertiaOrigin); + + /// \brief Overloaded () operator which allows an instance + /// of this class to be registered as a Custom Inertia + /// Calculator with libsdformat + /// \param[out] _errors A vector of Errors object. Each object + /// would contain an error code and an error message. + /// \param _calculatorParams An instance of + /// CustomInertiaCalcProperties. This instance can be used + /// to access the data like density, + /// properties of the mesh, etc. + public: std::optional operator()( + sdf::Errors& _errors, + const sdf::CustomInertiaCalcProperties& _calculatorParams); + }; + } + } +} + +#endif diff --git a/src/Server.cc b/src/Server.cc index 70d676916c..3cf8624a26 100644 --- a/src/Server.cc +++ b/src/Server.cc @@ -26,11 +26,14 @@ #include #include #include +#include +#include #include "gz/sim/config.hh" #include "gz/sim/Server.hh" #include "gz/sim/Util.hh" +#include "MeshInertiaCalculator.hh" #include "ServerPrivate.hh" #include "SimulationRunner.hh" @@ -117,7 +120,10 @@ Server::Server(const ServerConfig &_config) msg += "File path [" + _config.SdfFile() + "].\n"; } gzmsg << msg; - errors = this->dataPtr->sdfRoot.LoadSdfString(_config.SdfString()); + sdf::ParserConfig sdfParserConfig = sdf::ParserConfig::GlobalConfig(); + errors = this->dataPtr->sdfRoot.LoadSdfString( + _config.SdfString(), sdfParserConfig); + this->dataPtr->sdfRoot.ResolveAutoInertials(errors, sdfParserConfig); break; } @@ -136,12 +142,16 @@ Server::Server(const ServerConfig &_config) gzmsg << "Loading SDF world file[" << filePath << "].\n"; sdf::Root sdfRoot; + sdf::ParserConfig sdfParserConfig = sdf::ParserConfig::GlobalConfig(); + + MeshInertiaCalculator meshInertiaCalculator; + sdfParserConfig.RegisterCustomInertiaCalc(meshInertiaCalculator); // \todo(nkoenig) Async resource download. // This call can block for a long period of time while // resources are downloaded. Blocking here causes the GUI to block with // a black screen (search for "Async resource download" in // 'src/gui_main.cc'. - errors = sdfRoot.Load(filePath); + errors = sdfRoot.Load(filePath, sdfParserConfig); if (errors.empty()) { if (sdfRoot.Model() == nullptr) { this->dataPtr->sdfRoot = std::move(sdfRoot); @@ -150,7 +160,8 @@ Server::Server(const ServerConfig &_config) { // If the specified file only contains a model, load the default // world and add the model to it. - errors = this->dataPtr->sdfRoot.LoadSdfString(DefaultWorld::World()); + errors = this->dataPtr->sdfRoot.LoadSdfString( + DefaultWorld::World(), sdfParserConfig); sdf::World *world = this->dataPtr->sdfRoot.WorldByIndex(0); if (world == nullptr) { return; @@ -161,6 +172,8 @@ Server::Server(const ServerConfig &_config) } } } + + this->dataPtr->sdfRoot.ResolveAutoInertials(errors, sdfParserConfig); break; } diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index ef2166b55f..7ed4703dec 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 + mesh_inertia_calculation.cc model.cc model_photo_shoot_default_joints.cc model_photo_shoot_random_joints.cc diff --git a/test/integration/mesh_inertia_calculation.cc b/test/integration/mesh_inertia_calculation.cc new file mode 100644 index 0000000000..03653eb6d4 --- /dev/null +++ b/test/integration/mesh_inertia_calculation.cc @@ -0,0 +1,129 @@ +/* + * 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 +#include +#include + +#include +#include +#include +#include + +#include + +#include +#include +#include +#include + +#include "test_config.hh" +#include "../helpers/EnvTestFixture.hh" +#include "../helpers/Relay.hh" + +using namespace gz; +using namespace sim; + +/// \brief Test Mesh Inertia Calculation +class MeshInertiaCalculationTest : public InternalFixture<::testing::Test> +{ +}; + +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( + 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"), + 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"); + 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/m³. + // Volume: πr²h = 2π ≈ 6.283 + // Mass: ρV = (1240.0) * 2π ≈ 7791.1497 + // Ix = Iy : 1/12 * m(3r² + h²) = m/12 * (3 + 4) ≈ 4544.83 + // Iz : ½mr² ≈ 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); + EXPECT_EQ(link.WorldInertialPose(*ecm).value(), gz::math::Pose3d::Zero); +} diff --git a/test/worlds/mesh_inertia_calculation.sdf b/test/worlds/mesh_inertia_calculation.sdf new file mode 100644 index 0000000000..4b2a7ffdbd --- /dev/null +++ b/test/worlds/mesh_inertia_calculation.sdf @@ -0,0 +1,16 @@ + + + + + 0.001 + 1.0 + + + + + cylinder_dae + cylinder_dae + 0 0 0 0 0 0 + + + diff --git a/test/worlds/models/cylinder_dae/meshes/cylinder.dae b/test/worlds/models/cylinder_dae/meshes/cylinder.dae new file mode 100644 index 0000000000..64c8ef7e2c --- /dev/null +++ b/test/worlds/models/cylinder_dae/meshes/cylinder.dae @@ -0,0 +1,69 @@ + + + + + Blender User + Blender 3.4.1 commit date:2022-12-19, 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28482 4323 4094 28483 4321 4094 28484 4321 4094 28485 4319 4094 28486 4325 4094 28487 4319 4094 28488 4317 4094 28489 4325 4094 28490 4317 4094 28491 4315 4094 28492 4309 4094 28493 4315 4094 28494 4313 4094 28495 4309 4094 28496 4313 4094 28497 4311 4094 28498 4309 4094 28499 4309 4094 28500 4307 4094 28501 4305 4094 28502 4305 4094 28503 4303 4094 28504 4301 4094 28505 4301 4094 28506 4299 4094 28507 4293 4094 28508 4299 4094 28509 4297 4094 28510 4293 4094 28511 4297 4094 28512 4295 4094 28513 4293 4094 28514 4293 4094 28515 4291 4094 28516 4285 4094 28517 4291 4094 28518 4289 4094 28519 4285 4094 28520 4289 4094 28521 4287 4094 28522 4285 4094 28523 4285 4094 28524 4283 4094 28525 4281 4094 28526 4281 4094 28527 4279 4094 28528 4277 4094 28529 4277 4094 28530 4275 4094 28531 4269 4094 28532 4275 4094 28533 4273 4094 28534 4269 4094 28535 4273 4094 28536 4271 4094 28537 4269 4094 28538 4269 4094 28539 4267 4094 28540 4261 4094 28541 4267 4094 28542 4265 4094 28543 4261 4094 28544 4265 4094 28545 4263 4094 28546 4261 4094 28547 4261 4094 28548 4259 4094 28549 4257 4094 28550 4257 4094 28551 4255 4094 28552 4261 4094 28553 4255 4094 28554 4253 4094 28555 4261 4094 28556 4253 4094 28557 4251 4094 28558 4249 4094 28559 4249 4094 28560 4247 4094 28561 4245 4094 28562 4245 4094 28563 4243 4094 28564 4241 4094 28565 4241 4094 28566 4239 4094 28567 4245 4094 28568 4239 4094 28569 4237 4094 28570 4245 4094 28571 4237 4094 28572 4235 4094 28573 4229 4094 28574 4235 4094 28575 4233 4094 28576 4229 4094 28577 4233 4094 28578 4231 4094 28579 4229 4094 28580 4229 4094 28581 4227 4094 28582 4225 4094 28583 4225 4094 28584 4223 4094 28585 4229 4094 28586 4223 4094 28587 4221 4094 28588 4229 4094 28589 4221 4094 28590 4219 4094 28591 4217 4094 28592 4217 4094 28593 4215 4094 28594 4213 4094 28595 4213 4094 28596 4211 4094 28597 4209 4094 28598 4209 4094 28599 4207 4094 28600 4213 4094 28601 4207 4094 28602 4205 4094 28603 4213 4094 28604 4205 4094 28605 4203 4094 28606 4201 4094 28607 4201 4094 28608 4199 4094 28609 4205 4094 28610 4199 4094 28611 4197 4094 28612 4205 4094 28613 4197 4094 28614 4195 4094 28615 4189 4094 28616 4195 4094 28617 4193 4094 28618 4189 4094 28619 4193 4094 28620 4191 4094 28621 4189 4094 28622 4189 4094 28623 4187 4094 28624 4185 4094 28625 4185 4094 28626 4183 4094 28627 4181 4094 28628 4181 4094 28629 4179 4094 28630 4173 4094 28631 4179 4094 28632 4177 4094 28633 4173 4094 28634 4177 4094 28635 4175 4094 28636 4173 4094 28637 4173 4094 28638 4171 4094 28639 4169 4094 28640 4169 4094 28641 4167 4094 28642 4165 4094 28643 4165 4094 28644 4163 4094 28645 4161 4094 28646 4161 4094 28647 4159 4094 28648 4157 4094 28649 4157 4094 28650 4155 4094 28651 4153 4094 28652 4153 4094 28653 4151 4094 28654 4157 4094 28655 4151 4094 28656 4149 4094 28657 4157 4094 28658 4149 4094 28659 4147 4094 28660 4145 4094 28661 4145 4094 28662 4143 4094 28663 4141 4094 28664 4141 4094 28665 4139 4094 28666 4137 4094 28667 4137 4094 28668 4135 4094 28669 4133 4094 28670 4133 4094 28671 4131 4094 28672 4129 4094 28673 4129 4094 28674 4127 4094 28675 4125 4094 28676 4125 4094 28677 4123 4094 28678 4117 4094 28679 4123 4094 28680 4121 4094 28681 4117 4094 28682 4121 4094 28683 4119 4094 28684 4117 4094 28685 4117 4094 28686 4115 4094 28687 4109 4094 28688 4115 4094 28689 4113 4094 28690 4109 4094 28691 4113 4094 28692 4111 4094 28693 4109 4094 28694 4109 4094 28695 4107 4094 28696 4105 4094 28697 4105 4094 28698 4103 4094 28699 4109 4094 28700 4103 4094 28701 4101 4094 28702 4109 4094 28703 4101 4094 28704 4099 4094 28705 4093 4094 28706 4099 4094 28707 4097 4094 28708 4093 4094 28709 4097 4094 28710 4095 4094 28711 4093 4094 28712 4093 4094 28713 4091 4094 28714 4085 4094 28715 4091 4094 28716 4089 4094 28717 4085 4094 28718 4089 4094 28719 4087 4094 28720 4085 4094 28721 4085 4094 28722 4083 4094 28723 4081 4094 28724 4081 4094 28725 4079 4094 28726 4085 4094 28727 4079 4094 28728 4077 4094 28729 4085 4094 28730 4077 4094 28731 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4094 28794 4007 4094 28795 4005 4094 28796 4005 4094 28797 4003 4094 28798 4001 4094 28799 4001 4094 28800 3999 4094 28801 3997 4094 28802 3997 4094 28803 3995 4094 28804 3989 4094 28805 3995 4094 28806 3993 4094 28807 3989 4094 28808 3993 4094 28809 3991 4094 28810 3989 4094 28811 3989 4094 28812 3987 4094 28813 3981 4094 28814 3987 4094 28815 3985 4094 28816 3981 4094 28817 3985 4094 28818 3983 4094 28819 3981 4094 28820 3981 4094 28821 3979 4094 28822 3977 4094 28823 3977 4094 28824 3975 4094 28825 3981 4094 28826 3975 4094 28827 3973 4094 28828 3981 4094 28829 3973 4094 28830 3971 4094 28831 3965 4094 28832 3971 4094 28833 3969 4094 28834 3965 4094 28835 3969 4094 28836 3967 4094 28837 3965 4094 28838 3965 4094 28839 3963 4094 28840 3961 4094 28841 3961 4094 28842 3959 4094 28843 3965 4094 28844 3959 4094 28845 3957 4094 28846 3965 4094 28847 3957 4094 28848 3955 4094 28849 3949 4094 28850 3955 4094 28851 3953 4094 28852 3949 4094 28853 3953 4094 28854 3951 4094 28855 3949 4094 28856 3949 4094 28857 3947 4094 28858 3945 4094 28859 3945 4094 28860 3943 4094 28861 3941 4094 28862 3941 4094 28863 3939 4094 28864 3933 4094 28865 3939 4094 28866 3937 4094 28867 3933 4094 28868 3937 4094 28869 3935 4094 28870 3933 4094 28871 3933 4094 28872 3931 4094 28873 3929 4094 28874 3929 4094 28875 3927 4094 28876 3933 4094 28877 3927 4094 28878 3925 4094 28879 3933 4094 28880 3925 4094 28881 3923 4094 28882 3921 4094 28883 3921 4094 28884 3919 4094 28885 3925 4094 28886 3919 4094 28887 3917 4094 28888 3925 4094 28889 3917 4094 28890 3915 4094 28891 3913 4094 28892 3913 4094 28893 3911 4094 28894 3909 4094 28895 3909 4094 28896 3907 4094 28897 3905 4094 28898 3905 4094 28899 3903 4094 28900 3909 4094 28901 3903 4094 28902 3901 4094 28903 3909 4094 28904 3901 4094 28905 3899 4094 28906 3897 4094 28907 3897 4094 28908 3895 4094 28909 3901 4094 28910 3895 4094 28911 3893 4094 28912 3901 4094 28913 3893 4094 28914 3891 4094 28915 3885 4094 28916 3891 4094 28917 3889 4094 28918 3885 4094 28919 3889 4094 28920 3887 4094 28921 3885 4094 28922 3885 4094 28923 3883 4094 28924 3881 4094 28925 3881 4094 28926 3879 4094 28927 3885 4094 28928 3879 4094 28929 3877 4094 28930 3885 4094 28931 3877 4094 28932 3875 4094 28933 3869 4094 28934 3875 4094 28935 3873 4094 28936 3869 4094 28937 3873 4094 28938 3871 4094 28939 3869 4094 28940 3869 4094 28941 3867 4094 28942 3865 4094 28943 3865 4094 28944 3863 4094 28945 3861 4094 28946 3861 4094 28947 3859 4094 28948 3853 4094 28949 3859 4094 28950 3857 4094 28951 3853 4094 28952 3857 4094 28953 3855 4094 28954 3853 4094 28955 3853 4094 28956 3851 4094 28957 3845 4094 28958 3851 4094 28959 3849 4094 28960 3845 4094 28961 3849 4094 28962 3847 4094 28963 3845 4094 28964 3845 4094 28965 3843 4094 28966 3841 4094 28967 3841 4094 28968 3839 4094 28969 3837 4094 28970 3837 4094 28971 3835 4094 28972 3829 4094 28973 3835 4094 28974 3833 4094 28975 3829 4094 28976 3833 4094 28977 3831 4094 28978 3829 4094 28979 3829 4094 28980 3827 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29043 3767 4094 29044 3765 4094 29045 3765 4094 29046 3763 4094 29047 3757 4094 29048 3763 4094 29049 3761 4094 29050 3757 4094 29051 3761 4094 29052 3759 4094 29053 3757 4094 29054 3757 4094 29055 3755 4094 29056 3753 4094 29057 3753 4094 29058 3751 4094 29059 3757 4094 29060 3751 4094 29061 3749 4094 29062 3757 4094 29063 3749 4094 29064 3747 4094 29065 3745 4094 29066 3745 4094 29067 3743 4094 29068 3741 4094 29069 3741 4094 29070 3739 4094 29071 3737 4094 29072 3737 4094 29073 3735 4094 29074 3741 4094 29075 3735 4094 29076 3733 4094 29077 3741 4094 29078 3733 4094 29079 3731 4094 29080 3729 4094 29081 3729 4094 29082 3727 4094 29083 3733 4094 29084 3727 4094 29085 3725 4094 29086 3733 4094 29087 3725 4094 29088 3723 4094 29089 3721 4094 29090 3721 4094 29091 3719 4094 29092 3717 4094 29093 3717 4094 29094 3715 4094 29095 3713 4094 29096 3713 4094 29097 3711 4094 29098 3717 4094 29099 3711 4094 29100 3709 4094 29101 3717 4094 29102 3709 4094 29103 3707 4094 29104 3701 4094 29105 3707 4094 29106 3705 4094 29107 3701 4094 29108 3705 4094 29109 3703 4094 29110 3701 4094 29111 3701 4094 29112 3699 4094 29113 3697 4094 29114 3697 4094 29115 3695 4094 29116 3693 4094 29117 3693 4094 29118 3691 4094 29119 3689 4094 29120 3689 4094 29121 3687 4094 29122 3693 4094 29123 3687 4094 29124 3685 4094 29125 3693 4094 29126 3685 4094 29127 3683 4094 29128 3681 4094 29129 3681 4094 29130 3679 4094 29131 3677 4094 29132 3677 4094 29133 3675 4094 29134 3669 4094 29135 3675 4094 29136 3673 4094 29137 3669 4094 29138 3673 4094 29139 3671 4094 29140 3669 4094 29141 3669 4094 29142 3667 4094 29143 3665 4094 29144 3665 4094 29145 3663 4094 29146 3669 4094 29147 3663 4094 29148 3661 4094 29149 3669 4094 29150 3661 4094 29151 3659 4094 29152 3657 4094 29153 3657 4094 29154 3655 4094 29155 3661 4094 29156 3655 4094 29157 3653 4094 29158 3661 4094 29159 3653 4094 29160 3651 4094 29161 3649 4094 29162 3649 4094 29163 3647 4094 29164 3653 4094 29165 3647 4094 29166 3645 4094 29167 3653 4094 29168 3645 4094 29169 3643 4094 29170 3641 4094 29171 3641 4094 29172 3639 4094 29173 3645 4094 29174 3639 4094 29175 3637 4094 29176 3645 4094 29177 3637 4094 29178 3635 4094 29179 3629 4094 29180 3635 4094 29181 3633 4094 29182 3629 4094 29183 3633 4094 29184 3631 4094 29185 3629 4094 29186 3629 4094 29187 3627 4094 29188 3625 4094 29189 3625 4094 29190 3623 4094 29191 3629 4094 29192 3623 4094 29193 3621 4094 29194 3629 4094 29195 3621 4094 29196 3619 4094 29197 3617 4094 29198 3617 4094 29199 3615 4094 29200 3621 4094 29201 3615 4094 29202 3613 4094 29203 3621 4094 29204 3613 4094 29205 3611 4094 29206 3609 4094 29207 3609 4094 29208 3607 4094 29209 3605 4094 29210 3605 4094 29211 3603 4094 29212 3601 4094 29213 3601 4094 29214 3599 4094 29215 3605 4094 29216 3599 4094 29217 3597 4094 29218 3605 4094 29219 3597 4094 29220 3595 4094 29221 3593 4094 29222 3593 4094 29223 3591 4094 29224 3597 4094 29225 3591 4094 29226 3589 4094 29227 3597 4094 29228 3589 4094 29229 3587 4094 29230 3585 4094 29231 3585 4094 29232 3583 4094 29233 3581 4094 29234 3581 4094 29235 3579 4094 29236 3577 4094 29237 3577 4094 29238 3575 4094 29239 3581 4094 29240 3575 4094 29241 3573 4094 29242 3581 4094 29243 3573 4094 29244 3571 4094 29245 3565 4094 29246 3571 4094 29247 3569 4094 29248 3565 4094 29249 3569 4094 29250 3567 4094 29251 3565 4094 29252 3565 4094 29253 3563 4094 29254 3557 4094 29255 3563 4094 29256 3561 4094 29257 3557 4094 29258 3561 4094 29259 3559 4094 29260 3557 4094 29261 3557 4094 29262 3555 4094 29263 3553 4094 29264 3553 4094 29265 3551 4094 29266 3549 4094 29267 3549 4094 29268 3547 4094 29269 3541 4094 29270 3547 4094 29271 3545 4094 29272 3541 4094 29273 3545 4094 29274 3543 4094 29275 3541 4094 29276 3541 4094 29277 3539 4094 29278 3537 4094 29279 3537 4094 29280 3535 4094 29281 3541 4094 29282 3535 4094 29283 3533 4094 29284 3541 4094 29285 3533 4094 29286 3531 4094 29287 3529 4094 29288 3529 4094 29289 3527 4094 29290 3533 4094 29291 3527 4094 29292 3525 4094 29293 3533 4094 29294 3525 4094 29295 3523 4094 29296 3517 4094 29297 3523 4094 29298 3521 4094 29299 3517 4094 29300 3521 4094 29301 3519 4094 29302 3517 4094 29303 3517 4094 29304 3515 4094 29305 3509 4094 29306 3515 4094 29307 3513 4094 29308 3509 4094 29309 3513 4094 29310 3511 4094 29311 3509 4094 29312 3509 4094 29313 3507 4094 29314 3501 4094 29315 3507 4094 29316 3505 4094 29317 3501 4094 29318 3505 4094 29319 3503 4094 29320 3501 4094 29321 3501 4094 29322 3499 4094 29323 3493 4094 29324 3499 4094 29325 3497 4094 29326 3493 4094 29327 3497 4094 29328 3495 4094 29329 3493 4094 29330 3493 4094 29331 3491 4094 29332 3489 4094 29333 3489 4094 29334 3487 4094 29335 3493 4094 29336 3487 4094 29337 3485 4094 29338 3493 4094 29339 3485 4094 29340 3483 4094 29341 3481 4094 29342 3481 4094 29343 3479 4094 29344 3485 4094 29345 3479 4094 29346 3477 4094 29347 3485 4094 29348 3477 4094 29349 3475 4094 29350 3469 4094 29351 3475 4094 29352 3473 4094 29353 3469 4094 29354 3473 4094 29355 3471 4094 29356 3469 4094 29357 3469 4094 29358 3467 4094 29359 3461 4094 29360 3467 4094 29361 3465 4094 29362 3461 4094 29363 3465 4094 29364 3463 4094 29365 3461 4094 29366 3461 4094 29367 3459 4094 29368 3457 4094 29369 3457 4094 29370 3455 4094 29371 3453 4094 29372 3453 4094 29373 3451 4094 29374 3445 4094 29375 3451 4094 29376 3449 4094 29377 3445 4094 29378 3449 4094 29379 3447 4094 29380 3445 4094 29381 3445 4094 29382 3443 4094 29383 3441 4094 29384 3441 4094 29385 3439 4094 29386 3445 4094 29387 3439 4094 29388 3437 4094 29389 3445 4094 29390 3437 4094 29391 3435 4094 29392 3433 4094 29393 3433 4094 29394 3431 4094 29395 3437 4094 29396 3431 4094 29397 3429 4094 29398 3437 4094 29399 3429 4094 29400 3427 4094 29401 3421 4094 29402 3427 4094 29403 3425 4094 29404 3421 4094 29405 3425 4094 29406 3423 4094 29407 3421 4094 29408 3421 4094 29409 3419 4094 29410 3417 4094 29411 3417 4094 29412 3415 4094 29413 3413 4094 29414 3413 4094 29415 3411 4094 29416 3409 4094 29417 3409 4094 29418 3407 4094 29419 3405 4094 29420 3405 4094 29421 3403 4094 29422 3401 4094 29423 3401 4094 29424 3399 4094 29425 3397 4094 29426 3397 4094 29427 3395 4094 29428 3393 4094 29429 3393 4094 29430 3391 4094 29431 3397 4094 29432 3391 4094 29433 3389 4094 29434 3397 4094 29435 3389 4094 29436 3387 4094 29437 3381 4094 29438 3387 4094 29439 3385 4094 29440 3381 4094 29441 3385 4094 29442 3383 4094 29443 3381 4094 29444 3381 4094 29445 3379 4094 29446 3377 4094 29447 3377 4094 29448 3375 4094 29449 3381 4094 29450 3375 4094 29451 3373 4094 29452 3381 4094 29453 3373 4094 29454 3371 4094 29455 3369 4094 29456 3369 4094 29457 3367 4094 29458 3365 4094 29459 3365 4094 29460 3363 4094 29461 3361 4094 29462 3361 4094 29463 3359 4094 29464 3365 4094 29465 3359 4094 29466 3357 4094 29467 3365 4094 29468 3357 4094 29469 3355 4094 29470 3353 4094 29471 3353 4094 29472 3351 4094 29473 3357 4094 29474 3351 4094 29475 3349 4094 29476 3357 4094 29477 3349 4094 29478 3347 4094 29479 3345 4094 29480 3345 4094 29481 3343 4094 29482 3341 4094 29483 3341 4094 29484 3339 4094 29485 3337 4094 29486 3337 4094 29487 3335 4094 29488 3333 4094 29489 3333 4094 29490 3331 4094 29491 3325 4094 29492 3331 4094 29493 3329 4094 29494 3325 4094 29495 3329 4094 29496 3327 4094 29497 3325 4094 29498 3325 4094 29499 3323 4094 29500 3321 4094 29501 3321 4094 29502 3319 4094 29503 3317 4094 29504 3317 4094 29505 3315 4094 29506 3309 4094 29507 3315 4094 29508 3313 4094 29509 3309 4094 29510 3313 4094 29511 3311 4094 29512 3309 4094 29513 3309 4094 29514 3307 4094 29515 3305 4094 29516 3305 4094 29517 3303 4094 29518 3309 4094 29519 3303 4094 29520 3301 4094 29521 3309 4094 29522 3301 4094 29523 3299 4094 29524 3297 4094 29525 3297 4094 29526 3295 4094 29527 3293 4094 29528 3293 4094 29529 3291 4094 29530 3289 4094 29531 3289 4094 29532 3287 4094 29533 3293 4094 29534 3287 4094 29535 3285 4094 29536 3293 4094 29537 3285 4094 29538 3283 4094 29539 3277 4094 29540 3283 4094 29541 3281 4094 29542 3277 4094 29543 3281 4094 29544 3279 4094 29545 3277 4094 29546 3277 4094 29547 3275 4094 29548 3273 4094 29549 3273 4094 29550 3271 4094 29551 3269 4094 29552 3269 4094 29553 3267 4094 29554 3265 4094 29555 3265 4094 29556 3263 4094 29557 3261 4094 29558 3261 4094 29559 3259 4094 29560 3253 4094 29561 3259 4094 29562 3257 4094 29563 3253 4094 29564 3257 4094 29565 3255 4094 29566 3253 4094 29567 3253 4094 29568 3251 4094 29569 3245 4094 29570 3251 4094 29571 3249 4094 29572 3245 4094 29573 3249 4094 29574 3247 4094 29575 3245 4094 29576 3245 4094 29577 3243 4094 29578 3241 4094 29579 3241 4094 29580 3239 4094 29581 3237 4094 29582 3237 4094 29583 3235 4094 29584 3233 4094 29585 3233 4094 29586 3231 4094 29587 3237 4094 29588 3231 4094 29589 3229 4094 29590 3237 4094 29591 3229 4094 29592 3227 4094 29593 3221 4094 29594 3227 4094 29595 3225 4094 29596 3221 4094 29597 3225 4094 29598 3223 4094 29599 3221 4094 29600 3221 4094 29601 3219 4094 29602 3217 4094 29603 3217 4094 29604 3215 4094 29605 3221 4094 29606 3215 4094 29607 3213 4094 29608 3221 4094 29609 3213 4094 29610 3211 4094 29611 3209 4094 29612 3209 4094 29613 3207 4094 29614 3205 4094 29615 3205 4094 29616 3203 4094 29617 3197 4094 29618 3203 4094 29619 3201 4094 29620 3197 4094 29621 3201 4094 29622 3199 4094 29623 3197 4094 29624 3197 4094 29625 3195 4094 29626 3193 4094 29627 3193 4094 29628 3191 4094 29629 3197 4094 29630 3191 4094 29631 3189 4094 29632 3197 4094 29633 3189 4094 29634 3187 4094 29635 3185 4094 29636 3185 4094 29637 3183 4094 29638 3181 4094 29639 3181 4094 29640 3179 4094 29641 3177 4094 29642 3177 4094 29643 3175 4094 29644 3181 4094 29645 3175 4094 29646 3173 4094 29647 3181 4094 29648 3173 4094 29649 3171 4094 29650 3169 4094 29651 3169 4094 29652 3167 4094 29653 3173 4094 29654 3167 4094 29655 3165 4094 29656 3173 4094 29657 3165 4094 29658 3163 4094 29659 3161 4094 29660 3161 4094 29661 3159 4094 29662 3165 4094 29663 3159 4094 29664 3157 4094 29665 3165 4094 29666 3157 4094 29667 3155 4094 29668 3153 4094 29669 3153 4094 29670 3151 4094 29671 3157 4094 29672 3151 4094 29673 3149 4094 29674 3157 4094 29675 3149 4094 29676 3147 4094 29677 3145 4094 29678 3145 4094 29679 3143 4094 29680 3141 4094 29681 3141 4094 29682 3139 4094 29683 3133 4094 29684 3139 4094 29685 3137 4094 29686 3133 4094 29687 3137 4094 29688 3135 4094 29689 3133 4094 29690 3133 4094 29691 3131 4094 29692 3129 4094 29693 3129 4094 29694 3127 4094 29695 3133 4094 29696 3127 4094 29697 3125 4094 29698 3133 4094 29699 3125 4094 29700 3123 4094 29701 3117 4094 29702 3123 4094 29703 3121 4094 29704 3117 4094 29705 3121 4094 29706 3119 4094 29707 3117 4094 29708 3117 4094 29709 3115 4094 29710 3113 4094 29711 3113 4094 29712 3111 4094 29713 3109 4094 29714 3109 4094 29715 3107 4094 29716 3105 4094 29717 3105 4094 29718 3103 4094 29719 3109 4094 29720 3103 4094 29721 3101 4094 29722 3109 4094 29723 3101 4094 29724 3099 4094 29725 3097 4094 29726 3097 4094 29727 3095 4094 29728 3093 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29791 3029 4094 29792 3029 4094 29793 3027 4094 29794 3025 4094 29795 3025 4094 29796 3023 4094 29797 3029 4094 29798 3023 4094 29799 3021 4094 29800 3029 4094 29801 3021 4094 29802 3019 4094 29803 3013 4094 29804 3019 4094 29805 3017 4094 29806 3013 4094 29807 3017 4094 29808 3015 4094 29809 3013 4094 29810 3013 4094 29811 3011 4094 29812 3009 4094 29813 3009 4094 29814 3007 4094 29815 3013 4094 29816 3007 4094 29817 3005 4094 29818 3013 4094 29819 3005 4094 29820 3003 4094 29821 3001 4094 29822 3001 4094 29823 2999 4094 29824 2997 4094 29825 2997 4094 29826 2995 4094 29827 2989 4094 29828 2995 4094 29829 2993 4094 29830 2989 4094 29831 2993 4094 29832 2991 4094 29833 2989 4094 29834 2989 4094 29835 2987 4094 29836 2985 4094 29837 2985 4094 29838 2983 4094 29839 2989 4094 29840 2983 4094 29841 2981 4094 29842 2989 4094 29843 2981 4094 29844 2979 4094 29845 2973 4094 29846 2979 4094 29847 2977 4094 29848 2973 4094 29849 2977 4094 29850 2975 4094 29851 2973 4094 29852 2973 4094 29853 2971 4094 29854 2965 4094 29855 2971 4094 29856 2969 4094 29857 2965 4094 29858 2969 4094 29859 2967 4094 29860 2965 4094 29861 2965 4094 29862 2963 4094 29863 2961 4094 29864 2961 4094 29865 2959 4094 29866 2957 4094 29867 2957 4094 29868 2955 4094 29869 2949 4094 29870 2955 4094 29871 2953 4094 29872 2949 4094 29873 2953 4094 29874 2951 4094 29875 2949 4094 29876 2949 4094 29877 2947 4094 29878 2945 4094 29879 2945 4094 29880 2943 4094 29881 2949 4094 29882 2943 4094 29883 2941 4094 29884 2949 4094 29885 2941 4094 29886 2939 4094 29887 2937 4094 29888 2937 4094 29889 2935 4094 29890 2933 4094 29891 2933 4094 29892 2931 4094 29893 2925 4094 29894 2931 4094 29895 2929 4094 29896 2925 4094 29897 2929 4094 29898 2927 4094 29899 2925 4094 29900 2925 4094 29901 2923 4094 29902 2921 4094 29903 2921 4094 29904 2919 4094 29905 2925 4094 29906 2919 4094 29907 2917 4094 29908 2925 4094 29909 2917 4094 29910 2915 4094 29911 2909 4094 29912 2915 4094 29913 2913 4094 29914 2909 4094 29915 2913 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29978 2845 4094 29979 2843 4094 29980 2837 4094 29981 2843 4094 29982 2841 4094 29983 2837 4094 29984 2841 4094 29985 2839 4094 29986 2837 4094 29987 2837 4094 29988 2835 4094 29989 2833 4094 29990 2833 4094 29991 2831 4094 29992 2837 4094 29993 2831 4094 29994 2829 4094 29995 2837 4094 29996 2829 4094 29997 2827 4094 29998 2825 4094 29999 2825 4094 30000 2823 4094 30001 2821 4094 30002 2821 4094 30003 2819 4094 30004 2817 4094 30005 2817 4094 30006 2815 4094 30007 2821 4094 30008 2815 4094 30009 2813 4094 30010 2821 4094 30011 2813 4094 30012 2811 4094 30013 2809 4094 30014 2809 4094 30015 2807 4094 30016 2805 4094 30017 2805 4094 30018 2803 4094 30019 2801 4094 30020 2801 4094 30021 2799 4094 30022 2797 4094 30023 2797 4094 30024 2795 4094 30025 2789 4094 30026 2795 4094 30027 2793 4094 30028 2789 4094 30029 2793 4094 30030 2791 4094 30031 2789 4094 30032 2789 4094 30033 2787 4094 30034 2781 4094 30035 2787 4094 30036 2785 4094 30037 2781 4094 30038 2785 4094 30039 2783 4094 30040 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4094 30103 2709 4094 30104 2715 4094 30105 2713 4094 30106 2709 4094 30107 2713 4094 30108 2711 4094 30109 2709 4094 30110 2709 4094 30111 2707 4094 30112 2705 4094 30113 2705 4094 30114 2703 4094 30115 2701 4094 30116 2701 4094 30117 2699 4094 30118 2697 4094 30119 2697 4094 30120 2695 4094 30121 2701 4094 30122 2695 4094 30123 2693 4094 30124 2701 4094 30125 2693 4094 30126 2691 4094 30127 2689 4094 30128 2689 4094 30129 2687 4094 30130 2685 4094 30131 2685 4094 30132 2683 4094 30133 2681 4094 30134 2681 4094 30135 2679 4094 30136 2685 4094 30137 2679 4094 30138 2677 4094 30139 2685 4094 30140 2677 4094 30141 2675 4094 30142 2673 4094 30143 2673 4094 30144 2671 4094 30145 2677 4094 30146 2671 4094 30147 2669 4094 30148 2677 4094 30149 2669 4094 30150 2667 4094 30151 2661 4094 30152 2667 4094 30153 2665 4094 30154 2661 4094 30155 2665 4094 30156 2663 4094 30157 2661 4094 30158 2661 4094 30159 2659 4094 30160 2653 4094 30161 2659 4094 30162 2657 4094 30163 2653 4094 30164 2657 4094 30165 2655 4094 30166 2653 4094 30167 2653 4094 30168 2651 4094 30169 2649 4094 30170 2649 4094 30171 2647 4094 30172 2653 4094 30173 2647 4094 30174 2645 4094 30175 2653 4094 30176 2645 4094 30177 2643 4094 30178 2641 4094 30179 2641 4094 30180 2639 4094 30181 2645 4094 30182 2639 4094 30183 2637 4094 30184 2645 4094 30185 2637 4094 30186 2635 4094 30187 2633 4094 30188 2633 4094 30189 2631 4094 30190 2637 4094 30191 2631 4094 30192 2629 4094 30193 2637 4094 30194 2629 4094 30195 2627 4094 30196 2625 4094 30197 2625 4094 30198 2623 4094 30199 2629 4094 30200 2623 4094 30201 2621 4094 30202 2629 4094 30203 2621 4094 30204 2619 4094 30205 2613 4094 30206 2619 4094 30207 2617 4094 30208 2613 4094 30209 2617 4094 30210 2615 4094 30211 2613 4094 30212 2613 4094 30213 2611 4094 30214 2609 4094 30215 2609 4094 30216 2607 4094 30217 2605 4094 30218 2605 4094 30219 2603 4094 30220 2601 4094 30221 2601 4094 30222 2599 4094 30223 2605 4094 30224 2599 4094 30225 2597 4094 30226 2605 4094 30227 2597 4094 30228 2595 4094 30229 2593 4094 30230 2593 4094 30231 2591 4094 30232 2589 4094 30233 2589 4094 30234 2587 4094 30235 2585 4094 30236 2585 4094 30237 2583 4094 30238 2589 4094 30239 2583 4094 30240 2581 4094 30241 2589 4094 30242 2581 4094 30243 2579 4094 30244 2577 4094 30245 2577 4094 30246 2575 4094 30247 2581 4094 30248 2575 4094 30249 2573 4094 30250 2581 4094 30251 2573 4094 30252 2571 4094 30253 2565 4094 30254 2571 4094 30255 2569 4094 30256 2565 4094 30257 2569 4094 30258 2567 4094 30259 2565 4094 30260 2565 4094 30261 2563 4094 30262 2561 4094 30263 2561 4094 30264 2559 4094 30265 2557 4094 30266 2557 4094 30267 2555 4094 30268 2549 4094 30269 2555 4094 30270 2553 4094 30271 2549 4094 30272 2553 4094 30273 2551 4094 30274 2549 4094 30275 2549 4094 30276 2547 4094 30277 2541 4094 30278 2547 4094 30279 2545 4094 30280 2541 4094 30281 2545 4094 30282 2543 4094 30283 2541 4094 30284 2541 4094 30285 2539 4094 30286 2537 4094 30287 2537 4094 30288 2535 4094 30289 2533 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30352 2469 4094 30353 2469 4094 30354 2467 4094 30355 2465 4094 30356 2465 4094 30357 2463 4094 30358 2461 4094 30359 2461 4094 30360 2459 4094 30361 2453 4094 30362 2459 4094 30363 2457 4094 30364 2453 4094 30365 2457 4094 30366 2455 4094 30367 2453 4094 30368 2453 4094 30369 2451 4094 30370 2449 4094 30371 2449 4094 30372 2447 4094 30373 2445 4094 30374 2445 4094 30375 2443 4094 30376 2441 4094 30377 2441 4094 30378 2439 4094 30379 2445 4094 30380 2439 4094 30381 2437 4094 30382 2445 4094 30383 2437 4094 30384 2435 4094 30385 2429 4094 30386 2435 4094 30387 2433 4094 30388 2429 4094 30389 2433 4094 30390 2431 4094 30391 2429 4094 30392 2429 4094 30393 2427 4094 30394 2425 4094 30395 2425 4094 30396 2423 4094 30397 2421 4094 30398 2421 4094 30399 2419 4094 30400 2413 4094 30401 2419 4094 30402 2417 4094 30403 2413 4094 30404 2417 4094 30405 2415 4094 30406 2413 4094 30407 2413 4094 30408 2411 4094 30409 2405 4094 30410 2411 4094 30411 2409 4094 30412 2405 4094 30413 2409 4094 30414 2407 4094 30415 2405 4094 30416 2405 4094 30417 2403 4094 30418 2397 4094 30419 2403 4094 30420 2401 4094 30421 2397 4094 30422 2401 4094 30423 2399 4094 30424 2397 4094 30425 2397 4094 30426 2395 4094 30427 2389 4094 30428 2395 4094 30429 2393 4094 30430 2389 4094 30431 2393 4094 30432 2391 4094 30433 2389 4094 30434 2389 4094 30435 2387 4094 30436 2385 4094 30437 2385 4094 30438 2383 4094 30439 2389 4094 30440 2383 4094 30441 2381 4094 30442 2389 4094 30443 2381 4094 30444 2379 4094 30445 2377 4094 30446 2377 4094 30447 2375 4094 30448 2373 4094 30449 2373 4094 30450 2371 4094 30451 2365 4094 30452 2371 4094 30453 2369 4094 30454 2365 4094 30455 2369 4094 30456 2367 4094 30457 2365 4094 30458 2365 4094 30459 2363 4094 30460 2361 4094 30461 2361 4094 30462 2359 4094 30463 2365 4094 30464 2359 4094 30465 2357 4094 30466 2365 4094 30467 2357 4094 30468 2355 4094 30469 2353 4094 30470 2353 4094 30471 2351 4094 30472 2357 4094 30473 2351 4094 30474 2349 4094 30475 2357 4094 30476 2349 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30539 2285 4094 30540 2283 4094 30541 2281 4094 30542 2281 4094 30543 2279 4094 30544 2277 4094 30545 2277 4094 30546 2275 4094 30547 2273 4094 30548 2273 4094 30549 2271 4094 30550 2277 4094 30551 2271 4094 30552 2269 4094 30553 2277 4094 30554 2269 4094 30555 2267 4094 30556 2261 4094 30557 2267 4094 30558 2265 4094 30559 2261 4094 30560 2265 4094 30561 2263 4094 30562 2261 4094 30563 2261 4094 30564 2259 4094 30565 2257 4094 30566 2257 4094 30567 2255 4094 30568 2253 4094 30569 2253 4094 30570 2251 4094 30571 2245 4094 30572 2251 4094 30573 2249 4094 30574 2245 4094 30575 2249 4094 30576 2247 4094 30577 2245 4094 30578 2245 4094 30579 2243 4094 30580 2237 4094 30581 2243 4094 30582 2241 4094 30583 2237 4094 30584 2241 4094 30585 2239 4094 30586 2237 4094 30587 2237 4094 30588 2235 4094 30589 2233 4094 30590 2233 4094 30591 2231 4094 30592 2229 4094 30593 2229 4094 30594 2227 4094 30595 2221 4094 30596 2227 4094 30597 2225 4094 30598 2221 4094 30599 2225 4094 30600 2223 4094 30601 2221 4094 30602 2221 4094 30603 2219 4094 30604 2213 4094 30605 2219 4094 30606 2217 4094 30607 2213 4094 30608 2217 4094 30609 2215 4094 30610 2213 4094 30611 2213 4094 30612 2211 4094 30613 2209 4094 30614 2209 4094 30615 2207 4094 30616 2213 4094 30617 2207 4094 30618 2205 4094 30619 2213 4094 30620 2205 4094 30621 2203 4094 30622 2201 4094 30623 2201 4094 30624 2199 4094 30625 2197 4094 30626 2197 4094 30627 2195 4094 30628 2193 4094 30629 2193 4094 30630 2191 4094 30631 2197 4094 30632 2191 4094 30633 2189 4094 30634 2197 4094 30635 2189 4094 30636 2187 4094 30637 2181 4094 30638 2187 4094 30639 2185 4094 30640 2181 4094 30641 2185 4094 30642 2183 4094 30643 2181 4094 30644 2181 4094 30645 2179 4094 30646 2177 4094 30647 2177 4094 30648 2175 4094 30649 2181 4094 30650 2175 4094 30651 2173 4094 30652 2181 4094 30653 2173 4094 30654 2171 4094 30655 2169 4094 30656 2169 4094 30657 2167 4094 30658 2165 4094 30659 2165 4094 30660 2163 4094 30661 2161 4094 30662 2161 4094 30663 2159 4094 30664 2165 4094 30665 2159 4094 30666 2157 4094 30667 2165 4094 30668 2157 4094 30669 2155 4094 30670 2153 4094 30671 2153 4094 30672 2151 4094 30673 2157 4094 30674 2151 4094 30675 2149 4094 30676 2157 4094 30677 2149 4094 30678 2147 4094 30679 2141 4094 30680 2147 4094 30681 2145 4094 30682 2141 4094 30683 2145 4094 30684 2143 4094 30685 2141 4094 30686 2141 4094 30687 2139 4094 30688 2137 4094 30689 2137 4094 30690 2135 4094 30691 2133 4094 30692 2133 4094 30693 2131 4094 30694 2125 4094 30695 2131 4094 30696 2129 4094 30697 2125 4094 30698 2129 4094 30699 2127 4094 30700 2125 4094 30701 2125 4094 30702 2123 4094 30703 2121 4094 30704 2121 4094 30705 2119 4094 30706 2117 4094 30707 2117 4094 30708 2115 4094 30709 2113 4094 30710 2113 4094 30711 2111 4094 30712 2109 4094 30713 2109 4094 30714 2107 4094 30715 2105 4094 30716 2105 4094 30717 2103 4094 30718 2109 4094 30719 2103 4094 30720 2101 4094 30721 2109 4094 30722 2101 4094 30723 2099 4094 30724 2097 4094 30725 2097 4094 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2033 4094 30789 2031 4094 30790 2037 4094 30791 2031 4094 30792 2029 4094 30793 2037 4094 30794 2029 4094 30795 2027 4094 30796 2025 4094 30797 2025 4094 30798 2023 4094 30799 2029 4094 30800 2023 4094 30801 2021 4094 30802 2029 4094 30803 2021 4094 30804 2019 4094 30805 2017 4094 30806 2017 4094 30807 2015 4094 30808 2013 4094 30809 2013 4094 30810 2011 4094 30811 2009 4094 30812 2009 4094 30813 2007 4094 30814 2005 4094 30815 2005 4094 30816 2003 4094 30817 2001 4094 30818 2001 4094 30819 1999 4094 30820 1997 4094 30821 1997 4094 30822 1995 4094 30823 1989 4094 30824 1995 4094 30825 1993 4094 30826 1989 4094 30827 1993 4094 30828 1991 4094 30829 1989 4094 30830 1989 4094 30831 1987 4094 30832 1981 4094 30833 1987 4094 30834 1985 4094 30835 1981 4094 30836 1985 4094 30837 1983 4094 30838 1981 4094 30839 1981 4094 30840 1979 4094 30841 1977 4094 30842 1977 4094 30843 1975 4094 30844 1973 4094 30845 1973 4094 30846 1971 4094 30847 1969 4094 30848 1969 4094 30849 1967 4094 30850 1965 4094 30851 1965 4094 30852 1963 4094 30853 1957 4094 30854 1963 4094 30855 1961 4094 30856 1957 4094 30857 1961 4094 30858 1959 4094 30859 1957 4094 30860 1957 4094 30861 1955 4094 30862 1953 4094 30863 1953 4094 30864 1951 4094 30865 1949 4094 30866 1949 4094 30867 1947 4094 30868 1941 4094 30869 1947 4094 30870 1945 4094 30871 1941 4094 30872 1945 4094 30873 1943 4094 30874 1941 4094 30875 1941 4094 30876 1939 4094 30877 1933 4094 30878 1939 4094 30879 1937 4094 30880 1933 4094 30881 1937 4094 30882 1935 4094 30883 1933 4094 30884 1933 4094 30885 1931 4094 30886 1929 4094 30887 1929 4094 30888 1927 4094 30889 1933 4094 30890 1927 4094 30891 1925 4094 30892 1933 4094 30893 1925 4094 30894 1923 4094 30895 1917 4094 30896 1923 4094 30897 1921 4094 30898 1917 4094 30899 1921 4094 30900 1919 4094 30901 1917 4094 30902 1917 4094 30903 1915 4094 30904 1913 4094 30905 1913 4094 30906 1911 4094 30907 1917 4094 30908 1911 4094 30909 1909 4094 30910 1917 4094 30911 1909 4094 30912 1907 4094 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1845 4094 30976 1853 4094 30977 1845 4094 30978 1843 4094 30979 1837 4094 30980 1843 4094 30981 1841 4094 30982 1837 4094 30983 1841 4094 30984 1839 4094 30985 1837 4094 30986 1837 4094 30987 1835 4094 30988 1833 4094 30989 1833 4094 30990 1831 4094 30991 1837 4094 30992 1831 4094 30993 1829 4094 30994 1837 4094 30995 1829 4094 30996 1827 4094 30997 1821 4094 30998 1827 4094 30999 1825 4094 31000 1821 4094 31001 1825 4094 31002 1823 4094 31003 1821 4094 31004 1821 4094 31005 1819 4094 31006 1817 4094 31007 1817 4094 31008 1815 4094 31009 1813 4094 31010 1813 4094 31011 1811 4094 31012 1805 4094 31013 1811 4094 31014 1809 4094 31015 1805 4094 31016 1809 4094 31017 1807 4094 31018 1805 4094 31019 1805 4094 31020 1803 4094 31021 1797 4094 31022 1803 4094 31023 1801 4094 31024 1797 4094 31025 1801 4094 31026 1799 4094 31027 1797 4094 31028 1797 4094 31029 1795 4094 31030 1793 4094 31031 1793 4094 31032 1791 4094 31033 1789 4094 31034 1789 4094 31035 1787 4094 31036 1781 4094 31037 1787 4094 31038 1785 4094 31039 1781 4094 31040 1785 4094 31041 1783 4094 31042 1781 4094 31043 1781 4094 31044 1779 4094 31045 1777 4094 31046 1777 4094 31047 1775 4094 31048 1781 4094 31049 1775 4094 31050 1773 4094 31051 1781 4094 31052 1773 4094 31053 1771 4094 31054 1765 4094 31055 1771 4094 31056 1769 4094 31057 1765 4094 31058 1769 4094 31059 1767 4094 31060 1765 4094 31061 1765 4094 31062 1763 4094 31063 1761 4094 31064 1761 4094 31065 1759 4094 31066 1757 4094 31067 1757 4094 31068 1755 4094 31069 1753 4094 31070 1753 4094 31071 1751 4094 31072 1757 4094 31073 1751 4094 31074 1749 4094 31075 1757 4094 31076 1749 4094 31077 1747 4094 31078 1741 4094 31079 1747 4094 31080 1745 4094 31081 1741 4094 31082 1745 4094 31083 1743 4094 31084 1741 4094 31085 1741 4094 31086 1739 4094 31087 1733 4094 31088 1739 4094 31089 1737 4094 31090 1733 4094 31091 1737 4094 31092 1735 4094 31093 1733 4094 31094 1733 4094 31095 1731 4094 31096 1729 4094 31097 1729 4094 31098 1727 4094 31099 1733 4094 31100 1727 4094 31101 1725 4094 31102 1733 4094 31103 1725 4094 31104 1723 4094 31105 1721 4094 31106 1721 4094 31107 1719 4094 31108 1717 4094 31109 1717 4094 31110 1715 4094 31111 1709 4094 31112 1715 4094 31113 1713 4094 31114 1709 4094 31115 1713 4094 31116 1711 4094 31117 1709 4094 31118 1709 4094 31119 1707 4094 31120 1705 4094 31121 1705 4094 31122 1703 4094 31123 1709 4094 31124 1703 4094 31125 1701 4094 31126 1709 4094 31127 1701 4094 31128 1699 4094 31129 1697 4094 31130 1697 4094 31131 1695 4094 31132 1693 4094 31133 1693 4094 31134 1691 4094 31135 1689 4094 31136 1689 4094 31137 1687 4094 31138 1693 4094 31139 1687 4094 31140 1685 4094 31141 1693 4094 31142 1685 4094 31143 1683 4094 31144 1681 4094 31145 1681 4094 31146 1679 4094 31147 1685 4094 31148 1679 4094 31149 1677 4094 31150 1685 4094 31151 1677 4094 31152 1675 4094 31153 1673 4094 31154 1673 4094 31155 1671 4094 31156 1669 4094 31157 1669 4094 31158 1667 4094 31159 1665 4094 31160 1665 4094 31161 1663 4094 31162 1669 4094 31163 1663 4094 31164 1661 4094 31165 1669 4094 31166 1661 4094 31167 1659 4094 31168 1653 4094 31169 1659 4094 31170 1657 4094 31171 1653 4094 31172 1657 4094 31173 1655 4094 31174 1653 4094 31175 1653 4094 31176 1651 4094 31177 1649 4094 31178 1649 4094 31179 1647 4094 31180 1645 4094 31181 1645 4094 31182 1643 4094 31183 1641 4094 31184 1641 4094 31185 1639 4094 31186 1645 4094 31187 1639 4094 31188 1637 4094 31189 1645 4094 31190 1637 4094 31191 1635 4094 31192 1633 4094 31193 1633 4094 31194 1631 4094 31195 1629 4094 31196 1629 4094 31197 1627 4094 31198 1621 4094 31199 1627 4094 31200 1625 4094 31201 1621 4094 31202 1625 4094 31203 1623 4094 31204 1621 4094 31205 1621 4094 31206 1619 4094 31207 1617 4094 31208 1617 4094 31209 1615 4094 31210 1621 4094 31211 1615 4094 31212 1613 4094 31213 1621 4094 31214 1613 4094 31215 1611 4094 31216 1609 4094 31217 1609 4094 31218 1607 4094 31219 1613 4094 31220 1607 4094 31221 1605 4094 31222 1613 4094 31223 1605 4094 31224 1603 4094 31225 1601 4094 31226 1601 4094 31227 1599 4094 31228 1605 4094 31229 1599 4094 31230 1597 4094 31231 1605 4094 31232 1597 4094 31233 1595 4094 31234 1593 4094 31235 1593 4094 31236 1591 4094 31237 1597 4094 31238 1591 4094 31239 1589 4094 31240 1597 4094 31241 1589 4094 31242 1587 4094 31243 1581 4094 31244 1587 4094 31245 1585 4094 31246 1581 4094 31247 1585 4094 31248 1583 4094 31249 1581 4094 31250 1581 4094 31251 1579 4094 31252 1577 4094 31253 1577 4094 31254 1575 4094 31255 1581 4094 31256 1575 4094 31257 1573 4094 31258 1581 4094 31259 1573 4094 31260 1571 4094 31261 1569 4094 31262 1569 4094 31263 1567 4094 31264 1573 4094 31265 1567 4094 31266 1565 4094 31267 1573 4094 31268 1565 4094 31269 1563 4094 31270 1561 4094 31271 1561 4094 31272 1559 4094 31273 1557 4094 31274 1557 4094 31275 1555 4094 31276 1553 4094 31277 1553 4094 31278 1551 4094 31279 1557 4094 31280 1551 4094 31281 1549 4094 31282 1557 4094 31283 1549 4094 31284 1547 4094 31285 1545 4094 31286 1545 4094 31287 1543 4094 31288 1549 4094 31289 1543 4094 31290 1541 4094 31291 1549 4094 31292 1541 4094 31293 1539 4094 31294 1537 4094 31295 1537 4094 31296 1535 4094 31297 1533 4094 31298 1533 4094 31299 1531 4094 31300 1529 4094 31301 1529 4094 31302 1527 4094 31303 1533 4094 31304 1527 4094 31305 1525 4094 31306 1533 4094 31307 1525 4094 31308 1523 4094 31309 1517 4094 31310 1523 4094 31311 1521 4094 31312 1517 4094 31313 1521 4094 31314 1519 4094 31315 1517 4094 31316 1517 4094 31317 1515 4094 31318 1509 4094 31319 1515 4094 31320 1513 4094 31321 1509 4094 31322 1513 4094 31323 1511 4094 31324 1509 4094 31325 1509 4094 31326 1507 4094 31327 1505 4094 31328 1505 4094 31329 1503 4094 31330 1501 4094 31331 1501 4094 31332 1499 4094 31333 1493 4094 31334 1499 4094 31335 1497 4094 31336 1493 4094 31337 1497 4094 31338 1495 4094 31339 1493 4094 31340 1493 4094 31341 1491 4094 31342 1489 4094 31343 1489 4094 31344 1487 4094 31345 1493 4094 31346 1487 4094 31347 1485 4094 31348 1493 4094 31349 1485 4094 31350 1483 4094 31351 1481 4094 31352 1481 4094 31353 1479 4094 31354 1485 4094 31355 1479 4094 31356 1477 4094 31357 1485 4094 31358 1477 4094 31359 1475 4094 31360 1469 4094 31361 1475 4094 31362 1473 4094 31363 1469 4094 31364 1473 4094 31365 1471 4094 31366 1469 4094 31367 1469 4094 31368 1467 4094 31369 1461 4094 31370 1467 4094 31371 1465 4094 31372 1461 4094 31373 1465 4094 31374 1463 4094 31375 1461 4094 31376 1461 4094 31377 1459 4094 31378 1453 4094 31379 1459 4094 31380 1457 4094 31381 1453 4094 31382 1457 4094 31383 1455 4094 31384 1453 4094 31385 1453 4094 31386 1451 4094 31387 1445 4094 31388 1451 4094 31389 1449 4094 31390 1445 4094 31391 1449 4094 31392 1447 4094 31393 1445 4094 31394 1445 4094 31395 1443 4094 31396 1441 4094 31397 1441 4094 31398 1439 4094 31399 1445 4094 31400 1439 4094 31401 1437 4094 31402 1445 4094 31403 1437 4094 31404 1435 4094 31405 1433 4094 31406 1433 4094 31407 1431 4094 31408 1437 4094 31409 1431 4094 31410 1429 4094 31411 1437 4094 31412 1429 4094 31413 1427 4094 31414 1421 4094 31415 1427 4094 31416 1425 4094 31417 1421 4094 31418 1425 4094 31419 1423 4094 31420 1421 4094 31421 1421 4094 31422 1419 4094 31423 1413 4094 31424 1419 4094 31425 1417 4094 31426 1413 4094 31427 1417 4094 31428 1415 4094 31429 1413 4094 31430 1413 4094 31431 1411 4094 31432 1409 4094 31433 1409 4094 31434 1407 4094 31435 1405 4094 31436 1405 4094 31437 1403 4094 31438 1397 4094 31439 1403 4094 31440 1401 4094 31441 1397 4094 31442 1401 4094 31443 1399 4094 31444 1397 4094 31445 1397 4094 31446 1395 4094 31447 1393 4094 31448 1393 4094 31449 1391 4094 31450 1397 4094 31451 1391 4094 31452 1389 4094 31453 1397 4094 31454 1389 4094 31455 1387 4094 31456 1385 4094 31457 1385 4094 31458 1383 4094 31459 1389 4094 31460 1383 4094 31461 1381 4094 31462 1389 4094 31463 1381 4094 31464 1379 4094 31465 1373 4094 31466 1379 4094 31467 1377 4094 31468 1373 4094 31469 1377 4094 31470 1375 4094 31471 1373 4094 31472 1373 4094 31473 1371 4094 31474 1369 4094 31475 1369 4094 31476 1367 4094 31477 1365 4094 31478 1365 4094 31479 1363 4094 31480 1361 4094 31481 1361 4094 31482 1359 4094 31483 1357 4094 31484 1357 4094 31485 1355 4094 31486 1353 4094 31487 1353 4094 31488 1351 4094 31489 1349 4094 31490 1349 4094 31491 1347 4094 31492 1345 4094 31493 1345 4094 31494 1343 4094 31495 1349 4094 31496 1343 4094 31497 1341 4094 31498 1349 4094 31499 1341 4094 31500 1339 4094 31501 1333 4094 31502 1339 4094 31503 1337 4094 31504 1333 4094 31505 1337 4094 31506 1335 4094 31507 1333 4094 31508 1333 4094 31509 1331 4094 31510 1329 4094 31511 1329 4094 31512 1327 4094 31513 1333 4094 31514 1327 4094 31515 1325 4094 31516 1333 4094 31517 1325 4094 31518 1323 4094 31519 1321 4094 31520 1321 4094 31521 1319 4094 31522 1317 4094 31523 1317 4094 31524 1315 4094 31525 1313 4094 31526 1313 4094 31527 1311 4094 31528 1317 4094 31529 1311 4094 31530 1309 4094 31531 1317 4094 31532 1309 4094 31533 1307 4094 31534 1305 4094 31535 1305 4094 31536 1303 4094 31537 1309 4094 31538 1303 4094 31539 1301 4094 31540 1309 4094 31541 1301 4094 31542 1299 4094 31543 1297 4094 31544 1297 4094 31545 1295 4094 31546 1293 4094 31547 1293 4094 31548 1291 4094 31549 1289 4094 31550 1289 4094 31551 1287 4094 31552 1285 4094 31553 1285 4094 31554 1283 4094 31555 1277 4094 31556 1283 4094 31557 1281 4094 31558 1277 4094 31559 1281 4094 31560 1279 4094 31561 1277 4094 31562 1277 4094 31563 1275 4094 31564 1273 4094 31565 1273 4094 31566 1271 4094 31567 1269 4094 31568 1269 4094 31569 1267 4094 31570 1261 4094 31571 1267 4094 31572 1265 4094 31573 1261 4094 31574 1265 4094 31575 1263 4094 31576 1261 4094 31577 1261 4094 31578 1259 4094 31579 1257 4094 31580 1257 4094 31581 1255 4094 31582 1261 4094 31583 1255 4094 31584 1253 4094 31585 1261 4094 31586 1253 4094 31587 1251 4094 31588 1249 4094 31589 1249 4094 31590 1247 4094 31591 1245 4094 31592 1245 4094 31593 1243 4094 31594 1241 4094 31595 1241 4094 31596 1239 4094 31597 1245 4094 31598 1239 4094 31599 1237 4094 31600 1245 4094 31601 1237 4094 31602 1235 4094 31603 1229 4094 31604 1235 4094 31605 1233 4094 31606 1229 4094 31607 1233 4094 31608 1231 4094 31609 1229 4094 31610 1229 4094 31611 1227 4094 31612 1225 4094 31613 1225 4094 31614 1223 4094 31615 1221 4094 31616 1221 4094 31617 1219 4094 31618 1217 4094 31619 1217 4094 31620 1215 4094 31621 1213 4094 31622 1213 4094 31623 1211 4094 31624 1205 4094 31625 1211 4094 31626 1209 4094 31627 1205 4094 31628 1209 4094 31629 1207 4094 31630 1205 4094 31631 1205 4094 31632 1203 4094 31633 1197 4094 31634 1203 4094 31635 1201 4094 31636 1197 4094 31637 1201 4094 31638 1199 4094 31639 1197 4094 31640 1197 4094 31641 1195 4094 31642 1193 4094 31643 1193 4094 31644 1191 4094 31645 1189 4094 31646 1189 4094 31647 1187 4094 31648 1185 4094 31649 1185 4094 31650 1183 4094 31651 1189 4094 31652 1183 4094 31653 1181 4094 31654 1189 4094 31655 1181 4094 31656 1179 4094 31657 1173 4094 31658 1179 4094 31659 1177 4094 31660 1173 4094 31661 1177 4094 31662 1175 4094 31663 1173 4094 31664 1173 4094 31665 1171 4094 31666 1169 4094 31667 1169 4094 31668 1167 4094 31669 1173 4094 31670 1167 4094 31671 1165 4094 31672 1173 4094 31673 1165 4094 31674 1163 4094 31675 1161 4094 31676 1161 4094 31677 1159 4094 31678 1157 4094 31679 1157 4094 31680 1155 4094 31681 1149 4094 31682 1155 4094 31683 1153 4094 31684 1149 4094 31685 1153 4094 31686 1151 4094 31687 1149 4094 31688 1149 4094 31689 1147 4094 31690 1145 4094 31691 1145 4094 31692 1143 4094 31693 1149 4094 31694 1143 4094 31695 1141 4094 31696 1149 4094 31697 1141 4094 31698 1139 4094 31699 1137 4094 31700 1137 4094 31701 1135 4094 31702 1133 4094 31703 1133 4094 31704 1131 4094 31705 1129 4094 31706 1129 4094 31707 1127 4094 31708 1133 4094 31709 1127 4094 31710 1125 4094 31711 1133 4094 31712 1125 4094 31713 1123 4094 31714 1121 4094 31715 1121 4094 31716 1119 4094 31717 1125 4094 31718 1119 4094 31719 1117 4094 31720 1125 4094 31721 1117 4094 31722 1115 4094 31723 1113 4094 31724 1113 4094 31725 1111 4094 31726 1117 4094 31727 1111 4094 31728 1109 4094 31729 1117 4094 31730 1109 4094 31731 1107 4094 31732 1105 4094 31733 1105 4094 31734 1103 4094 31735 1109 4094 31736 1103 4094 31737 1101 4094 31738 1109 4094 31739 1101 4094 31740 1099 4094 31741 1097 4094 31742 1097 4094 31743 1095 4094 31744 1093 4094 31745 1093 4094 31746 1091 4094 31747 1085 4094 31748 1091 4094 31749 1089 4094 31750 1085 4094 31751 1089 4094 31752 1087 4094 31753 1085 4094 31754 1085 4094 31755 1083 4094 31756 1081 4094 31757 1081 4094 31758 1079 4094 31759 1085 4094 31760 1079 4094 31761 1077 4094 31762 1085 4094 31763 1077 4094 31764 1075 4094 31765 1069 4094 31766 1075 4094 31767 1073 4094 31768 1069 4094 31769 1073 4094 31770 1071 4094 31771 1069 4094 31772 1069 4094 31773 1067 4094 31774 1065 4094 31775 1065 4094 31776 1063 4094 31777 1061 4094 31778 1061 4094 31779 1059 4094 31780 1057 4094 31781 1057 4094 31782 1055 4094 31783 1061 4094 31784 1055 4094 31785 1053 4094 31786 1061 4094 31787 1053 4094 31788 1051 4094 31789 1049 4094 31790 1049 4094 31791 1047 4094 31792 1045 4094 31793 1045 4094 31794 1043 4094 31795 1041 4094 31796 1041 4094 31797 1039 4094 31798 1037 4094 31799 1037 4094 31800 1035 4094 31801 1033 4094 31802 1033 4094 31803 1031 4094 31804 1037 4094 31805 1031 4094 31806 1029 4094 31807 1037 4094 31808 1029 4094 31809 1027 4094 31810 1025 4094 31811 1025 4094 31812 1023 4094 31813 1029 4094 31814 1023 4094 31815 1021 4094 31816 1029 4094 31817 1021 4094 31818 1019 4094 31819 1017 4094 31820 1017 4094 31821 1015 4094 31822 1021 4094 31823 1015 4094 31824 1013 4094 31825 1021 4094 31826 1013 4094 31827 1011 4094 31828 1009 4094 31829 1009 4094 31830 1007 4094 31831 1013 4094 31832 1007 4094 31833 1005 4094 31834 1013 4094 31835 1005 4094 31836 1003 4094 31837 1001 4094 31838 1001 4094 31839 999 4094 31840 997 4094 31841 997 4094 31842 995 4094 31843 989 4094 31844 995 4094 31845 993 4094 31846 989 4094 31847 993 4094 31848 991 4094 31849 989 4094 31850 989 4094 31851 987 4094 31852 985 4094 31853 985 4094 31854 983 4094 31855 981 4094 31856 981 4094 31857 979 4094 31858 977 4094 31859 977 4094 31860 975 4094 31861 981 4094 31862 975 4094 31863 973 4094 31864 981 4094 31865 973 4094 31866 971 4094 31867 965 4094 31868 971 4094 31869 969 4094 31870 965 4094 31871 969 4094 31872 967 4094 31873 965 4094 31874 965 4094 31875 963 4094 31876 961 4094 31877 961 4094 31878 959 4094 31879 965 4094 31880 959 4094 31881 957 4094 31882 965 4094 31883 957 4094 31884 955 4094 31885 953 4094 31886 953 4094 31887 951 4094 31888 949 4094 31889 949 4094 31890 947 4094 31891 941 4094 31892 947 4094 31893 945 4094 31894 941 4094 31895 945 4094 31896 943 4094 31897 941 4094 31898 941 4094 31899 939 4094 31900 937 4094 31901 937 4094 31902 935 4094 31903 941 4094 31904 935 4094 31905 933 4094 31906 941 4094 31907 933 4094 31908 931 4094 31909 925 4094 31910 931 4094 31911 929 4094 31912 925 4094 31913 929 4094 31914 927 4094 31915 925 4094 31916 925 4094 31917 923 4094 31918 917 4094 31919 923 4094 31920 921 4094 31921 917 4094 31922 921 4094 31923 919 4094 31924 917 4094 31925 917 4094 31926 915 4094 31927 913 4094 31928 913 4094 31929 911 4094 31930 909 4094 31931 909 4094 31932 907 4094 31933 901 4094 31934 907 4094 31935 905 4094 31936 901 4094 31937 905 4094 31938 903 4094 31939 901 4094 31940 901 4094 31941 899 4094 31942 897 4094 31943 897 4094 31944 895 4094 31945 901 4094 31946 895 4094 31947 893 4094 31948 901 4094 31949 893 4094 31950 891 4094 31951 889 4094 31952 889 4094 31953 887 4094 31954 885 4094 31955 885 4094 31956 883 4094 31957 877 4094 31958 883 4094 31959 881 4094 31960 877 4094 31961 881 4094 31962 879 4094 31963 877 4094 31964 877 4094 31965 875 4094 31966 873 4094 31967 873 4094 31968 871 4094 31969 877 4094 31970 871 4094 31971 869 4094 31972 877 4094 31973 869 4094 31974 867 4094 31975 861 4094 31976 867 4094 31977 865 4094 31978 861 4094 31979 865 4094 31980 863 4094 31981 861 4094 31982 861 4094 31983 859 4094 31984 857 4094 31985 857 4094 31986 855 4094 31987 853 4094 31988 853 4094 31989 851 4094 31990 849 4094 31991 849 4094 31992 847 4094 31993 853 4094 31994 847 4094 31995 845 4094 31996 853 4094 31997 845 4094 31998 843 4094 31999 841 4094 32000 841 4094 32001 839 4094 32002 845 4094 32003 839 4094 32004 837 4094 32005 845 4094 32006 837 4094 32007 835 4094 32008 833 4094 32009 833 4094 32010 831 4094 32011 829 4094 32012 829 4094 32013 827 4094 32014 825 4094 32015 825 4094 32016 823 4094 32017 821 4094 32018 821 4094 32019 819 4094 32020 817 4094 32021 817 4094 32022 815 4094 32023 821 4094 32024 815 4094 32025 813 4094 32026 821 4094 32027 813 4094 32028 811 4094 32029 805 4094 32030 811 4094 32031 809 4094 32032 805 4094 32033 809 4094 32034 807 4094 32035 805 4094 32036 805 4094 32037 803 4094 32038 801 4094 32039 801 4094 32040 799 4094 32041 797 4094 32042 797 4094 32043 795 4094 32044 789 4094 32045 795 4094 32046 793 4094 32047 789 4094 32048 793 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5605 4094 35872 5573 4094 35873 5541 4094 35874 5525 4094 35875 5573 4094 35876 5525 4094 35877 5509 4094 35878 5573 4094 35879 5477 4094 35880 5461 4094 35881 5509 4094 35882 5461 4094 35883 5445 4094 35884 5509 4094 35885 5445 4094 35886 5429 4094 35887 5413 4094 35888 5413 4094 35889 5397 4094 35890 5445 4094 35891 5397 4094 35892 5381 4094 35893 5445 4094 35894 5317 4094 35895 5301 4094 35896 5253 4094 35897 5301 4094 35898 5285 4094 35899 5253 4094 35900 5285 4094 35901 5269 4094 35902 5253 4094 35903 5221 4094 35904 5205 4094 35905 5253 4094 35906 5205 4094 35907 5189 4094 35908 5253 4094 35909 5157 4094 35910 5141 4094 35911 5125 4094 35912 4965 4094 35913 4949 4094 35914 4997 4094 35915 4949 4094 35916 4933 4094 35917 4997 4094 35918 4933 4094 35919 4917 4094 35920 4901 4094 35921 4805 4094 35922 4789 4094 35923 4773 4094 35924 4773 4094 35925 4757 4094 35926 4741 4094 35927 4709 4094 35928 4693 4094 35929 4741 4094 35930 4693 4094 35931 4677 4094 35932 4741 4094 35933 4677 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3205 4094 36059 3157 4094 36060 3141 4094 36061 3205 4094 36062 3109 4094 36063 3093 4094 36064 3077 4094 36065 2917 4094 36066 2901 4094 36067 2949 4094 36068 2901 4094 36069 2885 4094 36070 2949 4094 36071 2885 4094 36072 2869 4094 36073 2853 4094 36074 2757 4094 36075 2741 4094 36076 2725 4094 36077 2725 4094 36078 2709 4094 36079 2693 4094 36080 2661 4094 36081 2645 4094 36082 2693 4094 36083 2645 4094 36084 2629 4094 36085 2693 4094 36086 2629 4094 36087 2613 4094 36088 2597 4094 36089 2597 4094 36090 2581 4094 36091 2629 4094 36092 2581 4094 36093 2565 4094 36094 2629 4094 36095 2565 4094 36096 2549 4094 36097 2501 4094 36098 2549 4094 36099 2533 4094 36100 2501 4094 36101 2501 4094 36102 2485 4094 36103 2469 4094 36104 2469 4094 36105 2453 4094 36106 2501 4094 36107 2453 4094 36108 2437 4094 36109 2501 4094 36110 2405 4094 36111 2389 4094 36112 2437 4094 36113 2389 4094 36114 2373 4094 36115 2437 4094 36116 2373 4094 36117 2357 4094 36118 2309 4094 36119 2357 4094 36120 2341 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5893 4094 36377 5893 4094 36378 5861 4094 36379 5829 4094 36380 5829 4094 36381 5797 4094 36382 5893 4094 36383 5797 4094 36384 5765 4094 36385 5893 4094 36386 5765 4094 36387 5733 4094 36388 5701 4094 36389 5701 4094 36390 5669 4094 36391 5637 4094 36392 5381 4094 36393 5349 4094 36394 5253 4094 36395 5349 4094 36396 5317 4094 36397 5253 4094 36398 5189 4094 36399 5157 4094 36400 5253 4094 36401 5157 4094 36402 5125 4094 36403 5253 4094 36404 5125 4094 36405 5093 4094 36406 5061 4094 36407 5061 4094 36408 5029 4094 36409 4997 4094 36410 4933 4094 36411 4901 4094 36412 4997 4094 36413 4901 4094 36414 4869 4094 36415 4997 4094 36416 4869 4094 36417 4837 4094 36418 4805 4094 36419 4805 4094 36420 4773 4094 36421 4869 4094 36422 4773 4094 36423 4741 4094 36424 4869 4094 36425 4293 4094 36426 4261 4094 36427 4357 4094 36428 4261 4094 36429 4229 4094 36430 4357 4094 36431 4229 4094 36432 4197 4094 36433 4101 4094 36434 4197 4094 36435 4165 4094 36436 4101 4094 36437 4037 4094 36438 4005 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36501 2149 4094 36502 2053 4094 36503 2149 4094 36504 2117 4094 36505 2053 4094 36506 1989 4094 36507 1957 4094 36508 2053 4094 36509 1957 4094 36510 1925 4094 36511 2053 4094 36512 1861 4094 36513 1829 4094 36514 1797 4094 36515 1797 4094 36516 1765 4094 36517 1733 4094 36518 1733 4094 36519 1701 4094 36520 1797 4094 36521 1701 4094 36522 1669 4094 36523 1797 4094 36524 1669 4094 36525 1637 4094 36526 1605 4094 36527 1605 4094 36528 1573 4094 36529 1541 4094 36530 1285 4094 36531 1253 4094 36532 1157 4094 36533 1253 4094 36534 1221 4094 36535 1157 4094 36536 1093 4094 36537 1061 4094 36538 1157 4094 36539 1061 4094 36540 1029 4094 36541 1157 4094 36542 1029 4094 36543 997 4094 36544 965 4094 36545 965 4094 36546 933 4094 36547 901 4094 36548 837 4094 36549 805 4094 36550 901 4094 36551 805 4094 36552 773 4094 36553 901 4094 36554 773 4094 36555 741 4094 36556 709 4094 36557 709 4094 36558 677 4094 36559 773 4094 36560 677 4094 36561 645 4094 36562 773 4094 36563 197 4094 36564 165 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4997 4094 36629 4741 4094 36630 4677 4094 36631 4613 4094 36632 4613 4094 36633 4549 4094 36634 4357 4094 36635 4549 4094 36636 4485 4094 36637 4357 4094 36638 4485 4094 36639 4421 4094 36640 4357 4094 36641 3973 4094 36642 3909 4094 36643 4101 4094 36644 3909 4094 36645 3845 4094 36646 4101 4094 36647 3717 4094 36648 3653 4094 36649 3845 4094 36650 3653 4094 36651 3589 4094 36652 3845 4094 36653 3589 4094 36654 3525 4094 36655 3461 4094 36656 3461 4094 36657 3397 4094 36658 3333 4094 36659 3077 4094 36660 3013 4094 36661 2949 4094 36662 2693 4094 36663 2629 4094 36664 2565 4094 36665 2565 4094 36666 2501 4094 36667 2309 4094 36668 2501 4094 36669 2437 4094 36670 2309 4094 36671 2437 4094 36672 2373 4094 36673 2309 4094 36674 1925 4094 36675 1861 4094 36676 2053 4094 36677 1861 4094 36678 1797 4094 36679 2053 4094 36680 1669 4094 36681 1605 4094 36682 1797 4094 36683 1605 4094 36684 1541 4094 36685 1797 4094 36686 1541 4094 36687 1477 4094 36688 1413 4094 36689 1413 4094 36690 1349 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3077 4094 36818 2053 6122 36819 1797 6122 36820 1541 6122 36821 517 4094 36822 261 4094 36823 1029 4094 36824 261 4094 36825 5 4094 36826 1029 4094 36827 5 4094 36828 7685 4094 36829 7173 4094 36830 6149 4094 36831 5637 4094 36832 5125 4094 36833 4101 4094 36834 3589 4094 36835 3077 4094 36836 2053 4094 36837 1541 4094 36838 1029 4094 36839 5 4094 36840 7173 4094 36841 6149 4094 36842 6149 4094 36843 5125 4094 36844 5 4094 36845 5125 4094 36846 4101 4094 36847 5 4094 36848 4101 4094 36849 3077 4094 36850 2053 4094 36851 2053 4094 36852 1029 4094 36853 4101 4094 36854 8189 6123 36855 8191 6123 36856 8190 6123 36857 8191 4096 36858 1 4096 36859 0 4096 36860 8190 4097 36861 0 4097 36862 2 4097 36863 2 4097 36864 4 4097 36865 6 4097 36866 6 4097 36867 8 4097 36868 10 4097 36869 10 4097 36870 12 4097 36871 6 4097 36872 12 4097 36873 14 4097 36874 6 4097 36875 14 4097 36876 16 4097 36877 18 4097 36878 18 4097 36879 20 4097 36880 22 4097 36881 22 4097 36882 24 4097 36883 26 4097 36884 26 4097 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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/model.config b/test/worlds/models/cylinder_dae/model.config new file mode 100644 index 0000000000..012a5f420b --- /dev/null +++ b/test/worlds/models/cylinder_dae/model.config @@ -0,0 +1,16 @@ + + + + cylinder_dae + 1.0 + model.sdf + + + Jasmeet Singh + jasmeet0915@gmail.com + + + + A model of a Cylinder collada + + diff --git a/test/worlds/models/cylinder_dae/model.sdf b/test/worlds/models/cylinder_dae/model.sdf new file mode 100644 index 0000000000..5300256593 --- /dev/null +++ b/test/worlds/models/cylinder_dae/model.sdf @@ -0,0 +1,47 @@ + + + + + 0 0 0 0 0 0 + + + 1240.0 + + 0.01 + + + + meshes/cylinder.dae + + + + + 0 0 0 0 0 0 + + + meshes/cylinder.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 + + + + 3 0 0 0 0 0 + + + 1 + 2.0 + + + + 0.7 0.0 0.0 1.0 + 0.7 0.7 0.7 1.0 + 0.7 0.7 0.7 1.0 + + + + + From ecc91e84d474102d2178ee576d37b705db953593 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Thu, 31 Aug 2023 22:29:16 +0200 Subject: [PATCH 03/50] Remove GZ_PHYSICS_ENGINE_INSTALL_DIR deprecation warnings (#2106) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- src/systems/physics/EntityFeatureMap_TEST.cc | 3 ++- src/systems/physics/Physics.cc | 3 ++- test/integration/tracked_vehicle_system.cc | 3 ++- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/src/systems/physics/EntityFeatureMap_TEST.cc b/src/systems/physics/EntityFeatureMap_TEST.cc index 948d83851a..40fd0d9abf 100644 --- a/src/systems/physics/EntityFeatureMap_TEST.cc +++ b/src/systems/physics/EntityFeatureMap_TEST.cc @@ -25,6 +25,7 @@ #include #include #include +#include #include #include #include @@ -57,7 +58,7 @@ class EntityFeatureMapFixture: public InternalFixture<::testing::Test> const std::string pluginLib = "gz-physics-dartsim-plugin"; common::SystemPaths systemPaths; - systemPaths.AddPluginPaths({GZ_PHYSICS_ENGINE_INSTALL_DIR}); + systemPaths.AddPluginPaths(gz::physics::getEngineInstallDir()); auto pathToLib = systemPaths.FindSharedLibrary(pluginLib); ASSERT_FALSE(pathToLib.empty()) diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc index 047e209db9..1f6defbf44 100644 --- a/src/systems/physics/Physics.cc +++ b/src/systems/physics/Physics.cc @@ -48,6 +48,7 @@ #include #include #include +#include #include #include @@ -806,7 +807,7 @@ void Physics::Configure(const Entity &_entity, // * Engines installed with gz-physics common::SystemPaths systemPaths; systemPaths.SetPluginPathEnv(this->dataPtr->pluginPathEnv); - systemPaths.AddPluginPaths({GZ_PHYSICS_ENGINE_INSTALL_DIR}); + systemPaths.AddPluginPaths(gz::physics::getEngineInstallDir()); auto pathToLib = systemPaths.FindSharedLibrary(pluginLib); diff --git a/test/integration/tracked_vehicle_system.cc b/test/integration/tracked_vehicle_system.cc index 69b7155f07..b68a1de002 100644 --- a/test/integration/tracked_vehicle_system.cc +++ b/test/integration/tracked_vehicle_system.cc @@ -33,6 +33,7 @@ #include #include #include +#include #include #include #include @@ -111,7 +112,7 @@ class TrackedVehicleTest : public InternalFixture<::testing::Test> // modifications) common::SystemPaths systemPaths; systemPaths.SetPluginPathEnv("GZ_SIM_PHYSICS_ENGINE_PATH"); - systemPaths.AddPluginPaths({GZ_PHYSICS_ENGINE_INSTALL_DIR}); + systemPaths.AddPluginPaths(gz::physics::getEngineInstallDir()); auto pathToLib = systemPaths.FindSharedLibrary(*pluginLib); ASSERT_FALSE(pathToLib.empty()) From 71797164192fb79b98ccb388e14e5e949705762d Mon Sep 17 00:00:00 2001 From: Mabel Zhang Date: Fri, 1 Sep 2023 16:00:22 -0400 Subject: [PATCH 04/50] fix broken link to API (#2108) Signed-off-by: Mabel Zhang --- tutorials/terminology.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tutorials/terminology.md b/tutorials/terminology.md index b4e8df5e6c..58e29b40e9 100644 --- a/tutorials/terminology.md +++ b/tutorials/terminology.md @@ -10,14 +10,14 @@ to developers touching the source code. * **Entity**: Every "object" in the world, such as models, links, collisions, visuals, lights, joints, etc. - An entity [is just a numeric ID](namespace gz_1_1gazebo.html#ad83694d867b0e3a9446b535b5dfd208d), + An entity [is just a numeric ID](namespacegz_1_1sim.html#ad83694d867b0e3a9446b535b5dfd208d), and may have several components attached to it. Entity IDs are assigned at runtime. * **Component**: Adds a certain functionality or characteristic (e.g., pose, name, material, etc.) to an entity. Gazebo comes with various - [components](namespace gz_1_1gazebo_1_1components.html) + [components](namespacegz_1_1sim_1_1components.html) ready to be used, such as `Pose` and `Inertial`, and downstream developers can also create their own by inheriting from the [BaseComponent](classignition_1_1gazebo_1_1components_1_1BaseComponent.html) From 2dbcc6c872a204e44f4dd3e3be8c44a98b04452f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Thu, 31 Aug 2023 22:29:16 +0200 Subject: [PATCH 05/50] Remove GZ_PHYSICS_ENGINE_INSTALL_DIR deprecation warnings (#2106) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- src/systems/physics/EntityFeatureMap_TEST.cc | 3 ++- src/systems/physics/Physics.cc | 3 ++- test/integration/tracked_vehicle_system.cc | 3 ++- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/src/systems/physics/EntityFeatureMap_TEST.cc b/src/systems/physics/EntityFeatureMap_TEST.cc index 948d83851a..40fd0d9abf 100644 --- a/src/systems/physics/EntityFeatureMap_TEST.cc +++ b/src/systems/physics/EntityFeatureMap_TEST.cc @@ -25,6 +25,7 @@ #include #include #include +#include #include #include #include @@ -57,7 +58,7 @@ class EntityFeatureMapFixture: public InternalFixture<::testing::Test> const std::string pluginLib = "gz-physics-dartsim-plugin"; common::SystemPaths systemPaths; - systemPaths.AddPluginPaths({GZ_PHYSICS_ENGINE_INSTALL_DIR}); + systemPaths.AddPluginPaths(gz::physics::getEngineInstallDir()); auto pathToLib = systemPaths.FindSharedLibrary(pluginLib); ASSERT_FALSE(pathToLib.empty()) diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc index 8cd8991eed..33e3db4224 100644 --- a/src/systems/physics/Physics.cc +++ b/src/systems/physics/Physics.cc @@ -48,6 +48,7 @@ #include #include #include +#include #include #include @@ -811,7 +812,7 @@ void Physics::Configure(const Entity &_entity, // * Engines installed with gz-physics common::SystemPaths systemPaths; systemPaths.SetPluginPathEnv(this->dataPtr->pluginPathEnv); - systemPaths.AddPluginPaths({GZ_PHYSICS_ENGINE_INSTALL_DIR}); + systemPaths.AddPluginPaths(gz::physics::getEngineInstallDir()); auto pathToLib = systemPaths.FindSharedLibrary(pluginLib); if (pathToLib.empty()) diff --git a/test/integration/tracked_vehicle_system.cc b/test/integration/tracked_vehicle_system.cc index 919939f79c..5d5f57ef8c 100644 --- a/test/integration/tracked_vehicle_system.cc +++ b/test/integration/tracked_vehicle_system.cc @@ -27,6 +27,7 @@ #include #include #include +#include #include #include #include @@ -105,7 +106,7 @@ class TrackedVehicleTest : public InternalFixture<::testing::Test> // modifications) common::SystemPaths systemPaths; systemPaths.SetPluginPathEnv("GZ_SIM_PHYSICS_ENGINE_PATH"); - systemPaths.AddPluginPaths({GZ_PHYSICS_ENGINE_INSTALL_DIR}); + systemPaths.AddPluginPaths(gz::physics::getEngineInstallDir()); auto pathToLib = systemPaths.FindSharedLibrary(*pluginLib); ASSERT_FALSE(pathToLib.empty()) From 58a0c0b8a0375ae2918d9cc2525d755a21002e62 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Fri, 1 Sep 2023 22:48:35 +0200 Subject: [PATCH 06/50] Fix typos. (#2114) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- tutorials/underwater_vehicles.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tutorials/underwater_vehicles.md b/tutorials/underwater_vehicles.md index dfed5a7d9a..b9210618a9 100644 --- a/tutorials/underwater_vehicles.md +++ b/tutorials/underwater_vehicles.md @@ -1,6 +1,6 @@ \page underwater_vehicles Underwater vehicles -## Simulating Autnomous Underwater Vehicles +## Simulating Autonomous Underwater Vehicles Gazebo now supports basic simulation of underwater vehicles. This capability is based on the equations described in Fossen's ["Guidance and @@ -108,8 +108,8 @@ name="gz::sim::systems::Hydrodynamics"> 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 inluding -what the parameters mean you may look +elevator of MBARI's Tethys. 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 @@ -152,7 +152,7 @@ name="gz::sim::systems::LiftDrag"> 0 0 0 ``` -The number in this case were kindly provided by MBARI for the Tethys. +The numbers in this case were kindly provided by MBARI for the Tethys. We also need to be able to control the position of the thruster fins so we will use the joint controller plugin. ```xml From 5ebf860793c36a04c02be03c52e3713ebe6ba450 Mon Sep 17 00:00:00 2001 From: Bi0T1N <28802083+Bi0T1N@users.noreply.github.com> Date: Tue, 5 Sep 2023 21:04:01 +0200 Subject: [PATCH 07/50] Fix default topic name of JointStatePublisher (#2115) * Fix default topic name of JointStatePublisher the default topic name is specified as /joint_state in JointStatePublisher.cc --------- Signed-off-by: Bi0T1N Co-authored-by: Bi0T1N --- src/systems/joint_state_publisher/JointStatePublisher.hh | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/systems/joint_state_publisher/JointStatePublisher.hh b/src/systems/joint_state_publisher/JointStatePublisher.hh index c83d9a1197..28d2408091 100644 --- a/src/systems/joint_state_publisher/JointStatePublisher.hh +++ b/src/systems/joint_state_publisher/JointStatePublisher.hh @@ -33,8 +33,8 @@ namespace sim inline namespace GZ_SIM_VERSION_NAMESPACE { namespace systems { - /// \brief The JointStatePub system publishes state information for - /// a model. The published message type is gz::msgs::Model, and the + /// \brief The JointStatePublisher system publishes joint state information + /// for a model. The published message type is gz::msgs::Model, and the /// publication topic is determined by the `` parameter. /// /// By default the JointStatePublisher will publish all joints for @@ -45,7 +45,7 @@ namespace systems /// /// ``: Name of the topic to publish to. This parameter is optional, /// and if not provided, the joint state will be published to - /// "/world//model//state". + /// "/world//model//joint_state". /// ``: Name of a joint to publish. This parameter can be /// specified multiple times, and is optional. All joints in a model will /// be published if joint names are not specified. From b938768006899602bc5927c8ef30ef1a4dd0ca1b Mon Sep 17 00:00:00 2001 From: Bi0T1N <28802083+Bi0T1N@users.noreply.github.com> Date: Tue, 5 Sep 2023 21:57:11 +0200 Subject: [PATCH 08/50] Add link to existing issue (#2116) Signed-off-by: Bi0T1N Co-authored-by: Bi0T1N --- tutorials/terminology.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tutorials/terminology.md b/tutorials/terminology.md index 58e29b40e9..5dd9cc8fea 100644 --- a/tutorials/terminology.md +++ b/tutorials/terminology.md @@ -73,7 +73,8 @@ to developers touching the source code. more than 1 world. * It has a single ECM with all the entities and components relevant to the levels / world / performer being simulated. - * It's still TBD how to support multiple `` in parallel. + * It's still [an open task](https://github.com/gazebosim/gz-sim/issues/18) + to support multiple `` in parallel. * It has an event manager. * It has a network manager, if simulation is distributed. * It loads up a set of systems. From 5bb1b1c6b0954bb2d849dfb53fe50f0e59f0c7bd Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 5 Sep 2023 21:57:45 -0700 Subject: [PATCH 09/50] Fix thrust cmd topic in underwater tutorial (#2120) Signed-off-by: Ian Chen --- tutorials/underwater_vehicles.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tutorials/underwater_vehicles.md b/tutorials/underwater_vehicles.md index dfed5a7d9a..ede396e9f5 100644 --- a/tutorials/underwater_vehicles.md +++ b/tutorials/underwater_vehicles.md @@ -55,9 +55,9 @@ rpm. Under the `` or `` tag add the following: 0.2 ``` -Now if we were to publish to `/model/tethys/joint/propeller_joint/cmd_pos` +Now if we were to publish to `/model/tethys/joint/propeller_joint/cmd_thrust` ``` -gz topic -t /model/tethys/joint/propeller_joint/cmd_pos \ +gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \ -m gz.msgs.Double -p 'data: -31' ``` we should see the model move. The thrusters are governed by the equation on @@ -185,7 +185,7 @@ gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \ ``` To apply a thrust you may run the following command ``` -gz topic -t /model/tethys/joint/propeller_joint/cmd_pos \ +gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \ -m gz.msgs.Double -p 'data: -31' ``` The vehicle should move in a circle. From b43325915e5e464878286c69c68f894aaa57c40a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Thu, 7 Sep 2023 17:29:35 +0200 Subject: [PATCH 10/50] Removed warning in sensors_demos.sdf (#2122) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- examples/worlds/sensors_demo.sdf | 1 - 1 file changed, 1 deletion(-) diff --git a/examples/worlds/sensors_demo.sdf b/examples/worlds/sensors_demo.sdf index 7bc724857f..ad40dafc3a 100644 --- a/examples/worlds/sensors_demo.sdf +++ b/examples/worlds/sensors_demo.sdf @@ -417,7 +417,6 @@ 0.01 - 1 true From 491fa232b721776f72850a5a4174e1ec6e7cc6d4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Thu, 7 Sep 2023 18:37:58 +0200 Subject: [PATCH 11/50] Fixed invalid service names (#2121) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- src/SimulationRunner.cc | 12 ++++++++++-- src/systems/user_commands/UserCommands.cc | 4 ++-- 2 files changed, 12 insertions(+), 4 deletions(-) diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index a52fcb030a..4f628a3906 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -47,7 +47,7 @@ #include "gz/sim/Events.hh" #include "gz/sim/SdfEntityCreator.hh" #include "gz/sim/Util.hh" - +#include "gz/transport/TopicUtils.hh" #include "network/NetworkManagerPrimary.hh" #include "SdfGenerator.hh" @@ -100,7 +100,15 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, } // Keep world name - this->worldName = _world->Name(); + this->worldName = transport::TopicUtils::AsValidTopic(_world->Name()); + + auto validWorldName = transport::TopicUtils::AsValidTopic(worldName); + if (this->worldName.empty()) + { + gzerr << "Can't start simulation runner with this world name [" + << worldName << "]." << std::endl; + return; + } this->parametersRegistry = std::make_unique< gz::transport::parameters::ParametersRegistry>( diff --git a/src/systems/user_commands/UserCommands.cc b/src/systems/user_commands/UserCommands.cc index 73e66e36e0..c5796c5d7e 100644 --- a/src/systems/user_commands/UserCommands.cc +++ b/src/systems/user_commands/UserCommands.cc @@ -648,7 +648,7 @@ void UserCommands::Configure(const Entity &_entity, // Pose vector service std::string poseVectorService{ - "/world/" + worldName + "/set_pose_vector"}; + "/world/" + validWorldName + "/set_pose_vector"}; this->dataPtr->node.Advertise(poseVectorService, &UserCommandsPrivate::PoseVectorService, this->dataPtr.get()); @@ -702,7 +702,7 @@ void UserCommands::Configure(const Entity &_entity, // Visual service std::string visualService - {"/world/" + worldName + "/visual_config"}; + {"/world/" + validWorldName + "/visual_config"}; this->dataPtr->node.Advertise(visualService, &UserCommandsPrivate::VisualService, this->dataPtr.get()); From 9055d88c7dc7abd2a3291fb00e88b2c68bbcbcdc Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 7 Sep 2023 14:09:18 -0700 Subject: [PATCH 12/50] fix move to model (#2126) Signed-off-by: Ian Chen --- src/gui/plugins/view_angle/ViewAngle.cc | 4 +--- tutorials/move_camera_to_model.md | 6 +++--- 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/src/gui/plugins/view_angle/ViewAngle.cc b/src/gui/plugins/view_angle/ViewAngle.cc index cc451cf264..fd430488ed 100644 --- a/src/gui/plugins/view_angle/ViewAngle.cc +++ b/src/gui/plugins/view_angle/ViewAngle.cc @@ -338,9 +338,7 @@ bool ViewAngle::OnMoveToModelService(const gz::msgs::GUICamera &_msg, Entity entityId = kNullEntity; try { - // TODO(ahcorde): When forward porting this to Garder change var type to - // unsigned int - entityId = std::get(visualToMove->UserData("gazebo-entity")); + entityId = std::get(visualToMove->UserData("gazebo-entity")); } catch(std::bad_variant_access &_e) { diff --git a/tutorials/move_camera_to_model.md b/tutorials/move_camera_to_model.md index fb008afb3b..0ba5287eeb 100644 --- a/tutorials/move_camera_to_model.md +++ b/tutorials/move_camera_to_model.md @@ -5,12 +5,12 @@ This tutorial gives an introduction to Gazebo's service `/gui/move_to/model`. Th ## How to move the camera to a model 1. Load the **View Angle** plugin. This service is only available when the **View Angle** plugin is loaded. -2. Call the service using the request message type `ignition.msgs.GUICamera` and the response message type `ignition.msgs.Boolean`. The distance to the object is defined as the z coordinate, and the direction of the camera with a quaternion. It's possible to select the projection type. +2. Call the service using the request message type `gz.msgs.GUICamera` and the response message type `gz.msgs.Boolean`. The distance to the object is defined as the z coordinate, and the direction of the camera with a quaternion. It's possible to select the projection type. For example, Let's move the camera to the `box` model looking down from 5 meters away. ```bash -ign service -s /gui/move_to/model --reqtype ignition.msgs.GUICamera --reptype ignition.msgs.Boolean -r 'name: "box", pose: {position: {z:5}, orientation: {x:0, y:0, z: -1, w:0}}, projection_type: "orbit"' --timeout 5000 +gz service -s /gui/move_to/model --reqtype gz.msgs.GUICamera --reptype gz.msgs.Boolean -r 'name: "box", pose: {position: {z:5}, orientation: {x:0, y:0, z: -1, w:0}}, projection_type: "orbit"' --timeout 5000 ``` @image html files/move_camera_to_model/box_5.gif @@ -18,7 +18,7 @@ ign service -s /gui/move_to/model --reqtype ignition.msgs.GUICamera --reptype The camera can also be placed far away, for example 20 meters: ```bash -ign service -s /gui/move_to/model --reqtype ignition.msgs.GUICamera --reptype ignition.msgs.Boolean -r 'name: "box", pose: {position: {z:20}, orientation: {x:0, y:0, z: -1, w:0}}, projection_type: "orbit"' --timeout 5000 +gz service -s /gui/move_to/model --reqtype gz.msgs.GUICamera --reptype gz.msgs.Boolean -r 'name: "box", pose: {position: {z:20}, orientation: {x:0, y:0, z: -1, w:0}}, projection_type: "orbit"' --timeout 5000 ``` @image html files/move_camera_to_model/box_20.gif From 353ad20adca925add2313a74850374bdf8f82d3c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Thu, 7 Sep 2023 23:35:01 +0200 Subject: [PATCH 13/50] Update README.md (#2124) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Update README.md Signed-off-by: Alejandro Hernández Cordero * Update README.md Co-authored-by: Ian Chen Signed-off-by: Michael Carroll --------- Signed-off-by: Alejandro Hernández Cordero Signed-off-by: Michael Carroll Co-authored-by: Michael Carroll Co-authored-by: Ian Chen --- README.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 825fcba24c..f12f19f841 100644 --- a/README.md +++ b/README.md @@ -78,7 +78,7 @@ introspection and control. # Install -See the [installation tutorial](https://gazebosim.org/api/gazebo/6.1/install.html). +See the [installation tutorial](https://gazebosim.org/api/sim/8/install.html). # Usage @@ -125,11 +125,11 @@ This issue is tracked [here](https://github.com/gazebosim/gz-tools/issues/8). # Documentation -See the [installation tutorial](https://gazebosim.org/api/gazebo/6.1/install.html). +See the [installation tutorial](https://gazebosim.org/api/sim/8/install.html). # Testing -See the [installation tutorial](https://gazebosim.org/api/gazebo/6.1/install.html). +See the [installation tutorial](https://gazebosim.org/api/sim/8/install.html). See the [Writing Tests section of the contributor guide](https://github.com/gazebosim/gz-sim/blob/main/CONTRIBUTING.md#writing-tests) for help creating or modifying tests. @@ -145,6 +145,7 @@ gz-sim │   └── worlds Example SDF world files. ├── include/gz/sim Header files that downstream users are expected to use. │   └── detail Header files that are not intended for downstream use, mainly template implementations. +├── python Python wrappers ├── src Source files and unit tests. │   ├── gui Graphical interface source code. │   └── systems System source code. From 923ccee7811a4f43c24322f98d95284dc4aadadb Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 8 Sep 2023 01:03:50 -0700 Subject: [PATCH 14/50] update link in particles tutorial (#2127) Signed-off-by: Ian Chen --- tutorials/particle_tutorial.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/particle_tutorial.md b/tutorials/particle_tutorial.md index b676d204de..c0c37e73b5 100644 --- a/tutorials/particle_tutorial.md +++ b/tutorials/particle_tutorial.md @@ -55,7 +55,7 @@ Here is the content of the Fog Generator [model.sdf](https://fuel.gazebosim.org/ ``` -The SDF 1.6+ specification supports having a `` SDF element as a child of ``. The particle emitter itself has several properties that can be configured, see Gazebo Rendering's [particles tutorial](https://gazebosim.org/api/rendering/4.0/particles.html) for more details on these properties. In our Fog Generator model, we are using a box type particle emitter that covers a region size of 10 by 10m. By default, the particles are emitted in the `+x` direction, hence the model as a pitch rotation of -90 degrees to rotate the particle emitter so that the particles are emitted upwards in `+z`. +The SDF 1.6+ specification supports having a `` SDF element as a child of ``. The particle emitter itself has several properties that can be configured, see Gazebo Rendering's [particles tutorial](https://gazebosim.org/api/rendering/8/particles.html) for more details on these properties. In our Fog Generator model, we are using a box type particle emitter that covers a region size of 10 by 10m. By default, the particles are emitted in the `+x` direction, hence the model as a pitch rotation of -90 degrees to rotate the particle emitter so that the particles are emitted upwards in `+z`. Let's launch the example world to see what it looks like. From d41e94c1a210648b54607f039bc664bf17a99645 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Fri, 8 Sep 2023 17:08:30 +0200 Subject: [PATCH 15/50] Update triggered_publisher.md (#2130) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- tutorials/triggered_publisher.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tutorials/triggered_publisher.md b/tutorials/triggered_publisher.md index f4b1678b4b..56768e470b 100644 --- a/tutorials/triggered_publisher.md +++ b/tutorials/triggered_publisher.md @@ -16,10 +16,10 @@ Publisher systems can be chained together by showing how the falling of the box can trigger another box to fall. Last, it covers how a service call can be triggered to reset the robot pose. The finished world SDFormat file for this tutorial can be found in -[examples/worlds/triggered_publisher.sdf](https://github.com/gazebosim/gz-sim/blob/ign-gazebo2/examples/worlds/triggered_publisher.sdf) +[examples/worlds/triggered_publisher.sdf](https://github.com/gazebosim/gz-sim/blob/gz-sim8/examples/worlds/triggered_publisher.sdf) We will use the differential drive vehicle from -[examples/worlds/diff_drive.sdf](https://github.com/gazebosim/gz-sim/blob/ign-gazebo2/examples/worlds/diff_drive.sdf), +[examples/worlds/diff_drive.sdf](https://github.com/gazebosim/gz-sim/blob/gz-sim8/examples/worlds/diff_drive.sdf), but modify the input topic of the `DiffDrive` system to `cmd_vel`. A snippet of the change to the `DiffDrive` system is shown below: From f44677a2e747ca5ab8f8209eb822db7fd575a4a8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Fri, 8 Sep 2023 17:17:07 +0200 Subject: [PATCH 16/50] Remove sdformat diff drive warning (#2129) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- examples/worlds/diff_drive.sdf | 4 ---- 1 file changed, 4 deletions(-) diff --git a/examples/worlds/diff_drive.sdf b/examples/worlds/diff_drive.sdf index a85ae7f112..0004a898c0 100644 --- a/examples/worlds/diff_drive.sdf +++ b/examples/worlds/diff_drive.sdf @@ -157,7 +157,6 @@ 1 1 0.1 - 0.1 @@ -208,7 +207,6 @@ 1 1 0.1 - 0.1 @@ -379,7 +377,6 @@ 1 1 0.1 - 0.1 @@ -430,7 +427,6 @@ 1 1 0.1 - 0.1 From 0baa39ff78ce697d57a688aaa906e961667e42c8 Mon Sep 17 00:00:00 2001 From: Voldivh Date: Fri, 8 Sep 2023 11:37:52 -0500 Subject: [PATCH 17/50] Fixes the link for the Hardware Acceleration Tutorial Signed-off-by: Voldivh --- tutorials/video_recorder.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/video_recorder.md b/tutorials/video_recorder.md index ffd06943fb..42ada67f29 100644 --- a/tutorials/video_recorder.md +++ b/tutorials/video_recorder.md @@ -106,5 +106,5 @@ generated video. The default bitrate is 2Mbps. Since Gazebo Common 3.10.2, there is support for utilizing the power of GPUs to speed up the video encoding process. See the -[Hardware-accelerated Video Encoding tutorial](https://gazebosim.org/api/common/3.10/hw-encoding.html) +[Hardware-accelerated Video Encoding tutorial](https://gazebosim.org/api/common/5/hw-encoding.html) for more details. From 183c04f6fd27e1a592954b28b5314abb390cbb03 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 8 Sep 2023 13:23:13 -0700 Subject: [PATCH 18/50] Use default physics engine in example worlds (#2134) Signed-off-by: Ian Chen --- examples/worlds/nested_model.sdf | 1 - examples/worlds/particle_emitter.sdf | 2 -- 2 files changed, 3 deletions(-) diff --git a/examples/worlds/nested_model.sdf b/examples/worlds/nested_model.sdf index 1ff1f267ba..f717a7a87b 100644 --- a/examples/worlds/nested_model.sdf +++ b/examples/worlds/nested_model.sdf @@ -8,7 +8,6 @@ - gz-physics-tpe-plugin - - gz-physics-tpe-plugin Date: Fri, 8 Sep 2023 22:43:19 +0200 Subject: [PATCH 19/50] Update underwater_vehicles.md (#2128) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- tutorials/underwater_vehicles.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tutorials/underwater_vehicles.md b/tutorials/underwater_vehicles.md index b9210618a9..e26f52ae73 100644 --- a/tutorials/underwater_vehicles.md +++ b/tutorials/underwater_vehicles.md @@ -55,9 +55,9 @@ rpm. Under the `` or `` tag add the following: 0.2 ``` -Now if we were to publish to `/model/tethys/joint/propeller_joint/cmd_pos` +Now if we were to publish to `/model/tethys/joint/propeller_joint/cmd_thrust` ``` -gz topic -t /model/tethys/joint/propeller_joint/cmd_pos \ +gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \ -m gz.msgs.Double -p 'data: -31' ``` we should see the model move. The thrusters are governed by the equation on @@ -185,7 +185,7 @@ gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \ ``` To apply a thrust you may run the following command ``` -gz topic -t /model/tethys/joint/propeller_joint/cmd_pos \ +gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \ -m gz.msgs.Double -p 'data: -31' ``` The vehicle should move in a circle. From 967f4f12223cfdca4f09409fff43c6938374156e Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 11 Sep 2023 11:44:20 -0700 Subject: [PATCH 20/50] Fix duplicate entries in joint position controller GUI plugin (#2101) Signed-off-by: Ian Chen --- .../JointPositionController.cc | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/gui/plugins/joint_position_controller/JointPositionController.cc b/src/gui/plugins/joint_position_controller/JointPositionController.cc index e202513024..428edb2291 100644 --- a/src/gui/plugins/joint_position_controller/JointPositionController.cc +++ b/src/gui/plugins/joint_position_controller/JointPositionController.cc @@ -45,9 +45,12 @@ namespace gz::sim::gui /// \brief Model holding all the joints. public: JointsModel jointsModel; - /// \brief Model entity being controller. + /// \brief Model entity being controlled. public: Entity modelEntity{kNullEntity}; + /// \brief Previous model entity being controlled. + public: Entity prevModelEntity{kNullEntity}; + /// \brief Name of the model public: QString modelName{"No model selected"}; @@ -212,6 +215,12 @@ void JointPositionController::Update(const UpdateInfo &, auto jointEntities = _ecm.EntitiesByComponents(components::Joint(), components::ParentEntity(this->dataPtr->modelEntity)); + if (this->dataPtr->prevModelEntity != this->dataPtr->modelEntity) + { + this->dataPtr->prevModelEntity = this->dataPtr->modelEntity; + this->dataPtr->jointsModel.Clear(); + } + // List all joints for (const auto &jointEntity : jointEntities) { From 07129c663ebcc5a10ad3447c23e1cc516b2f1877 Mon Sep 17 00:00:00 2001 From: Voldivh Date: Tue, 12 Sep 2023 11:07:01 -0500 Subject: [PATCH 21/50] Modifies the definition of hydrodynamics plugin Signed-off-by: Voldivh --- examples/worlds/lrauv_control_demo.sdf | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/examples/worlds/lrauv_control_demo.sdf b/examples/worlds/lrauv_control_demo.sdf index bf0d43a12d..2be3dc543f 100644 --- a/examples/worlds/lrauv_control_demo.sdf +++ b/examples/worlds/lrauv_control_demo.sdf @@ -257,17 +257,17 @@ 0 -33.46 -33.46 - -6.2282 + -6.2282 0 - -601.27 + -601.27 0 - -601.27 + -601.27 0 - -0.1916 + -0.1916 0 - -632.698957 + -632.698957 0 - -632.698957 + -632.698957 0 From 4135cd1874ff20ff67d2c37995b9a0c5f4d459fb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Tue, 12 Sep 2023 18:50:08 +0200 Subject: [PATCH 22/50] Removed python trace (#2123) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- examples/scripts/python_api/systems/test_system.py | 2 -- tutorials/python_interfaces.md | 2 -- 2 files changed, 4 deletions(-) diff --git a/examples/scripts/python_api/systems/test_system.py b/examples/scripts/python_api/systems/test_system.py index fe4e807919..b5d03347b0 100644 --- a/examples/scripts/python_api/systems/test_system.py +++ b/examples/scripts/python_api/systems/test_system.py @@ -34,8 +34,6 @@ def pre_update(self, info, ecm): return if info.iterations % 3000 == 0: - print(f"{self.id} {info.real_time} pre_update") - self.link.add_world_force( ecm, Vector3d(0, 0, self.force), Vector3d(random.random(), random.random(), 0)) diff --git a/tutorials/python_interfaces.md b/tutorials/python_interfaces.md index ad0e0d8ddc..e4a75b19e8 100644 --- a/tutorials/python_interfaces.md +++ b/tutorials/python_interfaces.md @@ -118,8 +118,6 @@ class TestSystem(object): return if info.iterations % 3000 == 0: - print(f"{self.id} {info.real_time} pre_update") - self.link.add_world_force( ecm, Vector3d(0, 0, self.force), Vector3d(random.random(), random.random(), 0)) From 02c0a56573a782d5629c966de55118fea724b2d4 Mon Sep 17 00:00:00 2001 From: Voldivh Date: Tue, 12 Sep 2023 11:38:45 -0500 Subject: [PATCH 23/50] Corrects the output from the command Signed-off-by: Voldivh --- tutorials/model_command.md | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/tutorials/model_command.md b/tutorials/model_command.md index 6947b14254..d78ba82bde 100644 --- a/tutorials/model_command.md +++ b/tutorials/model_command.md @@ -45,8 +45,9 @@ Once you get the name of the model you want to see, you may run the following co - Name: chassis - Parent: vehicle_blue [8] - Mass (kg): [1.143950] - - Inertial Pose: - [0.000000 | 0.000000 | 0.000000] + - Inertial Pose [ XYZ (m) ] [ RPY (rad) ]: + [0.000000 0.000000 0.000000] + [0.000000 -0.000000 0.000000] - Inertial Matrix (kg⋅m^2): [0.126164 | 0.000000 | 0.000000] [0.000000 | 0.416519 | 0.000000] @@ -118,12 +119,12 @@ Once you get the name of the model you want to see, you may run the following co - Joint [23] - Name: caster_wheel - Parent: vehicle_blue [8] - - Type: ball - - Parent Link: caster - - Child Link: chassis + - Type: ball + - Parent Link: chassis [9] + - Child Link: caster [18] - Pose [ XYZ (m) ] [ RPY (rad) ]: - [0.000000 | 0.000000 | 0.000000] - [0.000000 | 0.000000 | 0.000000] + [0.000000 0.000000 0.000000] + [0.000000 -0.000000 0.000000] ``` From 3e6be997834c17be621201339001c18fc6e439b1 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 12 Sep 2023 11:37:37 -0700 Subject: [PATCH 24/50] Load transform control and select entities plugins in thermal camera world (#2139) Signed-off-by: Ian Chen --- examples/worlds/thermal_camera.sdf | 20 ++++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) diff --git a/examples/worlds/thermal_camera.sdf b/examples/worlds/thermal_camera.sdf index c857c36278..2a6e329032 100644 --- a/examples/worlds/thermal_camera.sdf +++ b/examples/worlds/thermal_camera.sdf @@ -88,9 +88,7 @@ false false 72 - 121 1 - floating @@ -142,6 +140,24 @@ + + + + + + + + + + + false + 5 + 5 + floating + false + + + Thermal camera From 9d79b629c9e0fed1c8635e30f06b2c61462f32d8 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 12 Sep 2023 12:35:33 -0700 Subject: [PATCH 25/50] Update video recorder 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--git a/tutorials/video_recorder.md b/tutorials/video_recorder.md index ffd06943fb..a84b802adb 100644 --- a/tutorials/video_recorder.md +++ b/tutorials/video_recorder.md @@ -13,8 +13,9 @@ Gazebo that already has this plugin included in the GUI. gz sim -v 4 video_record_dbl_pendulum.sdf ``` -In this plugin, you should see a single button with a video recorder icon. -Clicking on the button gives you the video format options that are available. +In this demo world, you should see a video recorder icon positioned on the top. +left area of the window along with other buttons. Clicking on the video +recorder button gives you the video format options that are available. @image html files/video_recorder/video_recorder.png From d0524915fa590d96743bcad9322f5a15f101a81a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Wed, 13 Sep 2023 20:49:41 +0200 Subject: [PATCH 26/50] Fix multi_lrauv_race example (#2111) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- examples/standalone/multi_lrauv_race/multi_lrauv_race.cc | 2 +- examples/worlds/multi_lrauv_race.sdf | 5 ----- 2 files changed, 1 insertion(+), 6 deletions(-) diff --git a/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc b/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc index 03ec9eee98..be8dd072d0 100644 --- a/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc +++ b/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc @@ -74,7 +74,7 @@ int main(int argc, char** argv) rudderPubs[i] = node.Advertise(rudderTopics[i]); propellerTopics[i] = gz::transport::TopicUtils::AsValidTopic( - "/model/" + ns[i] + "/joint/propeller_joint/cmd_pos"); + "/model/" + ns[i] + "/joint/propeller_joint/cmd_thrust"); propellerPubs[i] = node.Advertise( propellerTopics[i]); } diff --git a/examples/worlds/multi_lrauv_race.sdf b/examples/worlds/multi_lrauv_race.sdf index f0827cd82c..902d89111a 100644 --- a/examples/worlds/multi_lrauv_race.sdf +++ b/examples/worlds/multi_lrauv_race.sdf @@ -57,11 +57,6 @@ -0.5 0.1 -0.9 - - -5 0 0 0 0 0 - https://fuel.gazebosim.org/1.0/mabelzhang/models/Turquoise turbidity generator - - 0 0 1 0 0 1.57 https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV From 0bd0b66dab8b72d34a290f2343471a9322e3d69f Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 13 Sep 2023 15:00:52 -0500 Subject: [PATCH 27/50] Add note about Featherstone (#2143) I think this is helpful to demonstrate the alternative engines without having to write your own custom engine. Signed-off-by: Michael Carroll --- tutorials/physics.md | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/tutorials/physics.md b/tutorials/physics.md index a8e1c12217..ef7bf7999d 100644 --- a/tutorials/physics.md +++ b/tutorials/physics.md @@ -16,8 +16,10 @@ tutorials to learn how to integrate a new engine. ## How Gazebo finds engines Gazebo automatically looks for all physics engine plugins that are -installed with Gazebo Physics. At the moment, that's only DART -(`gz-physics-dartsim-plugin`). +installed with Gazebo Physics. At the moment, the primary implementation +is DART (`gz-physics-dartsim-plugin`). There is also preliminary support +for Bullet (`gz-physics-bullet-plugin`) and the Bullet Featherstone +implementation (`gz-physics-bullet-featherstone-plugin`) If you've created a custom engine plugin, you can tell Gazebo where to find it by setting the `GZ_SIM_PHYSICS_ENGINE_PATH` environment variable to the @@ -70,6 +72,10 @@ Alternatively, you can choose a plugin from the command line using the `gz sim --physics-engine CustomEngine` +To use an existing alternative engine (e.g. Bullet Featherstone) + +`gz sim --physics-engine gz-physics-bullet-featherstone-plugin` + ### From C++ API All features available through the command line are also available through From 5577b19f6e06fe2e2bb55631fd060c81e9e8ad71 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Wed, 13 Sep 2023 16:42:21 -0500 Subject: [PATCH 28/50] Fix CMake warning in example (#2145) Signed-off-by: Addisu Z. Taddese --- examples/plugin/hello_world/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/plugin/hello_world/CMakeLists.txt b/examples/plugin/hello_world/CMakeLists.txt index ba90eedfff..135d6288ce 100644 --- a/examples/plugin/hello_world/CMakeLists.txt +++ b/examples/plugin/hello_world/CMakeLists.txt @@ -10,7 +10,7 @@ set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR}) gz_find_package(gz-sim8 REQUIRED) set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR}) -add_library(HelloWorld SHARED HelloWorld) +add_library(HelloWorld SHARED HelloWorld.cc) set_property(TARGET HelloWorld PROPERTY CXX_STANDARD 17) target_link_libraries(HelloWorld PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} From 23881936d93d335a2ad1086008416f1f36c3fdcc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Thu, 14 Sep 2023 14:45:35 +0200 Subject: [PATCH 29/50] Improve joint controller world visualization (#2144) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- examples/worlds/joint_controller.sdf | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/examples/worlds/joint_controller.sdf b/examples/worlds/joint_controller.sdf index 7152726bfa..65cf6fe938 100644 --- a/examples/worlds/joint_controller.sdf +++ b/examples/worlds/joint_controller.sdf @@ -39,7 +39,7 @@ -0.5 0.1 -0.9 - 0 0 0 0 1.57 0 + 0 0 0 0 -1.57 0 0.0 0.0 0.0 0 0 0 @@ -91,6 +91,8 @@ 0.2 0.8 0.2 1 + 0.2 0.8 0.2 1 + 0.2 0.8 0.2 1 @@ -125,7 +127,7 @@ - 0 0.5 0 0 1.57 0 + 0 0.5 0 0 -1.57 0 0.0 0.0 0.0 0 0 0 @@ -177,6 +179,8 @@ 0.2 0.8 0.2 1 + 0.2 0.8 0.2 1 + 0.2 0.8 0.2 1 From 839282ae44715e63b52e62a438745098b8d05d06 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 14 Sep 2023 15:42:36 -0700 Subject: [PATCH 30/50] Update logging tutorial (#2148) Signed-off-by: Ian Chen --- tutorials/log.md | 5 ----- 1 file changed, 5 deletions(-) diff --git a/tutorials/log.md b/tutorials/log.md index 6f88370656..8c3b8b8011 100644 --- a/tutorials/log.md +++ b/tutorials/log.md @@ -103,11 +103,6 @@ Please use the command line argument. ## Known issues -* When using command-line playback there is currently a small caveat. -In the case that the recorded file uses `ogre2`, the playback appears -brighter, because the default SDF that is loaded by Server.cc for playback -uses `ogre`. - * Currently, specifying record and playback at the same time is not allowed. We may support this in the future, to support cropping a recording or changing the encoding. From 2bef470a01ba580f3472ffe011ddfdc289975041 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 14 Sep 2023 15:57:56 -0700 Subject: [PATCH 31/50] Update Reset simulation tutorial (#2147) --------- Signed-off-by: Ian Chen --- tutorials/reset_simulation.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/tutorials/reset_simulation.md b/tutorials/reset_simulation.md index a2f21d671c..7a62a3fa3d 100644 --- a/tutorials/reset_simulation.md +++ b/tutorials/reset_simulation.md @@ -9,18 +9,19 @@ In addition to the API, we have also expanded the simulation system API with a R System authors may now choose to implement the Reset interface to have a more intelligent reset process (avoiding reloading assets or regenerating scene graphs being the motivating examples). Since this interface is opt-in, systems that don't implement the API will still be reset via destruction and reconstruction. -The [physics](https://github.com/gazebosim/gz-sim/blob/gz-sim8/src/systems/physics/Physics.cc#L928-L937) and [rendering systems](https://github.com/gazebosim/gz-sim/blob/gz-sim8/src/systems/scene_broadcaster/SceneBroadcaster.cc#L452-L458) are the first two to implement this optimized reset functionality, with more to come as it makes sense to. +The [physics](https://github.com/gazebosim/gz-sim/blob/23881936d93d335a2ad1086008416f1f36c3fdcc/src/systems/physics/Physics.cc#L919-L928) and [scene_broadcaster](https://github.com/gazebosim/gz-sim/blob/23881936d93d335a2ad1086008416f1f36c3fdcc/src/systems/scene_broadcaster/SceneBroadcaster.cc#L489-L495) systems are the first two to implement this optimized reset functionality, with more to come as it makes sense. -Following the tutorial \subpage createsystemplugins we should implement `ISystemReset` interface. +Follow the tutorial \subpage createsystemplugins to see how to support Reset by implementng the `ISystemReset` interface. ## Transport API -To call the reset transport API we should call the service `/world/default/control` and fill the request message type -`gz.msgs.WorldControl`, this service return a `gz.msgs.Boolean` with the status of the reset (true is everything was fine, false otherwise) +To invoke reset over transport API, we should call the service `/world//control` and fill the request message type +`gz.msgs.WorldControl`. This service returns a `gz.msgs.Boolean` with the status of the reset (true means everything was fine, false otherwise) -The `WorldControl` message now contains a reset field that we should filled if we want to reset the world: +The `WorldControl` message now contains a `reset` field for resetting the world: ```bash +# the world name is `default` in this example gz service -s /world/default/control --reqtype gz.msgs.WorldControl --reptype gz.msgs.Boolean --timeout 3000 --req 'reset: {all: true}' ``` From 294fddc765e93a233a438cda21d02e4171b17b33 Mon Sep 17 00:00:00 2001 From: Mabel Zhang Date: Thu, 14 Sep 2023 19:08:48 -0400 Subject: [PATCH 32/50] Fix broken / update ign links in tutorials (Harmonic) (#2107) * fix broken link to API * use \ref for links. Revert common::Event link * make links local so that version updates automatically * update URLs to latest release versions, and ignition->gz namespace * fix migration tutorial titles * ref link for gz::gui::plugins, dependent on gz-gui PR#571 --------- Signed-off-by: Mabel Zhang --- CMakeLists.txt | 1 + tutorials/entity_creation.md | 8 ++++---- tutorials/gui_config.md | 2 +- tutorials/light_config.md | 2 +- tutorials/log.md | 4 ++-- tutorials/migrating_ardupilot_plugin.md | 4 +--- tutorials/migration_actor_api.md | 17 ++++++----------- tutorials/migration_joint_api.md | 16 ++++++---------- tutorials/migration_light_api.md | 16 ++++++---------- tutorials/migration_link_api.md | 17 +++++++---------- tutorials/migration_model_api.md | 17 +++++++---------- tutorials/migration_plugins.md | 4 +--- tutorials/migration_sdf.md | 4 +--- tutorials/migration_sensor_api.md | 16 ++++++---------- tutorials/migration_world_api.md | 16 +++++++--------- tutorials/physics.md | 4 ++-- tutorials/rendering_plugins.md | 8 +++----- tutorials/resources.md | 17 ++++++++--------- tutorials/terminology.md | 14 +++++++------- 19 files changed, 77 insertions(+), 110 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index c1cafd64d1..e28d8dece1 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -272,6 +272,7 @@ if (NOT APPLE) "${GZ-TRANSPORT_DOXYGEN_TAGFILE} = ${GZ-TRANSPORT_API_URL}" "${GZ-SENSORS_DOXYGEN_TAGFILE} = ${GZ-SENSORS_API_URL}" "${GZ-COMMON_DOXYGEN_TAGFILE} = ${GZ-COMMON_API_URL}" + "${GZ-GUI_DOXYGEN_TAGFILE} = ${GZ-GUI_API_URL}" ) endif() diff --git a/tutorials/entity_creation.md b/tutorials/entity_creation.md index 0e5b9c8824..6772fb1538 100644 --- a/tutorials/entity_creation.md +++ b/tutorials/entity_creation.md @@ -58,11 +58,11 @@ gz service --list # Factory message To create new entities in the world we need to use the -[gz::msgs::EntityFactory](https://gazebosim.org/api/msgs/6.0/classignition_1_1msgs_1_1EntityFactory__V.html) +[gz::msgs::EntityFactory](https://gazebosim.org/api/msgs/9/classgz_1_1msgs_1_1EntityFactory.html) message to send a request to the create service. This message allows us to create entities from strings, files, -[Models](https://gazebosim.org/api/msgs/6.0/classignition_1_1msgs_1_1Model.html), -[Lights](https://gazebosim.org/api/msgs/6.0/classignition_1_1msgs_1_1Light.html) or even clone models. +[Models](https://gazebosim.org/api/msgs/9/classgz_1_1msgs_1_1Model.html), +[Lights](https://gazebosim.org/api/msgs/9/classgz_1_1msgs_1_1Light.html) or even clone models. This tutorial introduces how to create entities from SDF strings and light messages. ## Insert an entity based on a string @@ -103,7 +103,7 @@ Or we can create an SDF string: \snippet examples/standalone/entity_creation/entity_creation.cc create light str Please check the API to know which fields are available in the -[Light message](https://gazebosim.org/api/msgs/6.2/classignition_1_1msgs_1_1Light.html). +[Light message](https://gazebosim.org/api/msgs/9/classgz_1_1msgs_1_1Light.html). There are three types of lights: Point, Directional and Spot. Finally we should call the same service `/world//create`: diff --git a/tutorials/gui_config.md b/tutorials/gui_config.md index a1a8679450..9cc42fa1e0 100644 --- a/tutorials/gui_config.md +++ b/tutorials/gui_config.md @@ -3,7 +3,7 @@ Gazebo Sim's graphical user interface is powered by [Gazebo GUI](https://gazebosim.org/libs/gui). Therefore, Gazebo Sim's GUI layout can be defined in -[Gazebo GUI configuration files](https://gazebosim.org/api/gui/2.1/config.html). +[Gazebo GUI configuration files](https://gazebosim.org/api/gui/8/config.html). These are XML files that describe what plugins to be loaded and with what settings. diff --git a/tutorials/light_config.md b/tutorials/light_config.md index 24378aa798..eea79a3237 100644 --- a/tutorials/light_config.md +++ b/tutorials/light_config.md @@ -6,7 +6,7 @@ This service will allow to modify lights in the scene. ## Modifying lights To modify lights inside the scene we need to use the service `/world//light_config` and -fill the message [`gz::msgs::Light`](https://gazebosim.org/api/msgs/6.0/classignition_1_1msgs_1_1Light.html). +fill the message [`gz::msgs::Light`](https://gazebosim.org/api/msgs/9/classgz_1_1msgs_1_1Light.html). In particular this example modifies the point light that we introduced with the function `createLight()`. \snippet examples/standalone/light_control/light_control.cc create light diff --git a/tutorials/log.md b/tutorials/log.md index 8c3b8b8011..c8aaa379b6 100644 --- a/tutorials/log.md +++ b/tutorials/log.md @@ -8,7 +8,7 @@ Gazebo records two types of information to files: * Always recorded * Simulation state * Entity poses, insertion and deletion - * Logged to an [Gazebo Transport `state.tlog` file](https://gazebosim.org/api/transport/7.0/logging.html) + * Logged to an [Gazebo Transport `state.tlog` file](https://gazebosim.org/api/transport/13/logging.html) * Recording must be enabled from the command line or the C++ API * Can be played back using the command line or the C++ API @@ -42,7 +42,7 @@ Other options for recording: ### From C++ API All features available through the command line are also available through -[gz::sim::ServerConfig](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1ServerConfig.html). +\ref gz::sim::ServerConfig. When instantiating a server programmatically, logging options can be passed to the constructor, for example: diff --git a/tutorials/migrating_ardupilot_plugin.md b/tutorials/migrating_ardupilot_plugin.md index 66676d9cd1..e58dd764b2 100644 --- a/tutorials/migrating_ardupilot_plugin.md +++ b/tutorials/migrating_ardupilot_plugin.md @@ -1,6 +1,4 @@ -\page ardupilot - -# Case study: migrating the ArduPilot ModelPlugin from Gazebo classic to Gazebo +\page ardupilot Case study: migrating the ArduPilot ModelPlugin from Gazebo classic to Gazebo A variety of changes are required when migrating a plugin from Gazebo classic to Gazebo. In this tutorial we offer as a case diff --git a/tutorials/migration_actor_api.md b/tutorials/migration_actor_api.md index 065a0b19d8..5bbc743198 100644 --- a/tutorials/migration_actor_api.md +++ b/tutorials/migration_actor_api.md @@ -1,6 +1,4 @@ -\page migrationactorapi - -# Migration from Gazebo-classic: Actor API +\page migrationactorapi Migration from Gazebo-classic: Actor API When migrating plugins from Gazebo-classic to Gazebo, developers will notice that the C++ APIs for both simulators are quite different. Be sure to @@ -34,16 +32,13 @@ can be divided in these categories: You'll find the Gazebo APIs below on the following headers: -* [gz/sim/Actor.hh](https://gazebosim.org/api/gazebo/7/Actor_8hh.html) -* [gz/sim/Util.hh](https://gazebosim.org/api/gazebo/7/Util_8hh.html) -* [gz/sim/SdfEntityCreator.hh](https://gazebosim.org/api/gazebo/7/SdfEntityCreator_8hh.html) -* [gz/sim/EntityComponentManager.hh](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) +* \ref gz/sim/Actor.hh +* \ref gz/sim/Util.hh +* \ref gz/sim/SdfEntityCreator.hh +* \ref gz/sim/EntityComponentManager.hh It's worth remembering that most of this functionality can be performed using -the -[EntityComponentManager](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) -directly. - +the \ref gz::sim::EntityComponentManager "EntityComponentManager" directly. As an example the `Actor::Pose()` is a convienient function for querying the `Pose` component from the `EntityComponentManager`, i.e. diff --git a/tutorials/migration_joint_api.md b/tutorials/migration_joint_api.md index 8e33acd5e7..5cf035ce76 100644 --- a/tutorials/migration_joint_api.md +++ b/tutorials/migration_joint_api.md @@ -1,6 +1,4 @@ -\page migrationjointapi - -# Migration from Gazebo-classic: Joint API +\page migrationjointapi Migration from Gazebo-classic: Joint API When migrating plugins from Gazebo-classic to Gazebo, developers will notice that the C++ APIs for both simulators are quite different. Be sure to @@ -32,15 +30,13 @@ can be divided in these categories: You'll find the Gazebo APIs below on the following headers: -* [gz/sim/Joint.hh](https://gazebosim.org/api/gazebo/7/Joint_8hh.html) -* [gz/sim/Util.hh](https://gazebosim.org/api/gazebo/7/Util_8hh.html) -* [gz/sim/SdfEntityCreator.hh](https://gazebosim.org/api/gazebo/7/SdfEntityCreator_8hh.html) -* [gz/sim/EntityComponentManager.hh](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) +* \ref gz/sim/Joint.hh +* \ref gz/sim/Util.hh +* \ref gz/sim/SdfEntityCreator.hh +* \ref gz/sim/EntityComponentManager.hh It's worth remembering that most of this functionality can be performed using -the -[EntityComponentManager](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) -directly. +the \ref gz::sim::EntityComponentManager "EntityComponentManager" directly. As an example the `Join::Pose()` is a convienient function for querying the `Pose` component from the `EntityComponentManager`, i.e. diff --git a/tutorials/migration_light_api.md b/tutorials/migration_light_api.md index 86f1f508c6..818f521042 100644 --- a/tutorials/migration_light_api.md +++ b/tutorials/migration_light_api.md @@ -1,6 +1,4 @@ -\page migrationlightapi - -# Migration from Gazebo-classic: Light API +\page migrationlightapi Migration from Gazebo-classic: Light API When migrating plugins from Gazebo-classic to Gazebo, developers will notice that the C++ APIs for both simulators are quite different. Be sure to @@ -29,15 +27,13 @@ In Gazebo, the light APIs has been consolidated into a single Light class with some of generic functions available through other utility / core classes. You'll find the APIs below on the following headers: -* [gz/sim/Light.hh](https://gazebosim.org/api/gazebo/7/Light_8hh.html) -* [gz/sim/Util.hh](https://gazebosim.org/api/gazebo/7/Util_8hh.html) -* [gz/sim/SdfEntityCreator.hh](https://gazebosim.org/api/gazebo/7/SdfEntityCreator_8hh.html) -* [gz/sim/EntityComponentManager.hh](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) +* \ref gz/sim/Light.hh +* \ref gz/sim/Util.hh +* \ref gz/sim/SdfEntityCreator.hh +* \ref gz/sim/EntityComponentManager.hh It's worth remembering that most of this functionality can be performed using -the -[EntityComponentManager](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) -directly. +the \ref gz::sim::EntityComponentManager "EntityComponentManager" directly. As an example the `Light::Pose()` is a convienient function for querying the `Pose` component from the `EntityComponentManager`, i.e. diff --git a/tutorials/migration_link_api.md b/tutorials/migration_link_api.md index 57662d5b76..a6377969c8 100644 --- a/tutorials/migration_link_api.md +++ b/tutorials/migration_link_api.md @@ -1,6 +1,4 @@ -\page migrationlinkapi - -# Migration from Gazebo-classic: Link API +\page migrationlinkapi Migration from Gazebo-classic: Link API When migrating plugins from Gazebo-classic to Gazebo, developers will notice that the C++ APIs for both simulators are quite different. Be sure to @@ -34,15 +32,14 @@ can be divided in these categories: You'll find the Gazebo APIs below on the following headers: -* [gz/sim/Link.hh](https://gazebosim.org/api/gazebo/7/Link_8hh.html) -* [gz/sim/Util.hh](https://gazebosim.org/api/gazebo/7/Util_8hh.html) -* [gz/sim/SdfEntityCreator.hh](https://gazebosim.org/api/gazebo/7/SdfEntityCreator_8hh.html) -* [gz/sim/EntityComponentManager.hh](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) +* \ref gz/sim/Link.hh +* \ref gz/sim/Util.hh +* \ref gz/sim/SdfEntityCreator.hh +* \ref gz/sim/EntityComponentManager.hh It's worth remembering that most of this functionality can be performed using -the -[EntityComponentManager](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) -directly. The functions presented here exist for convenience and readability. +the \ref gz::sim::EntityComponentManager "EntityComponentManager" directly. +The functions presented here exist for convenience and readability. ### Properties diff --git a/tutorials/migration_model_api.md b/tutorials/migration_model_api.md index 837ac603d5..8c252f2b82 100644 --- a/tutorials/migration_model_api.md +++ b/tutorials/migration_model_api.md @@ -1,6 +1,4 @@ -\page migrationmodelapi - -# Migration from Gazebo-classic: Model API +\page migrationmodelapi Migration from Gazebo-classic: Model API When migrating plugins from Gazebo-classic to Gazebo, developers will notice that the C++ APIs for both simulators are quite different. Be sure to @@ -34,15 +32,14 @@ can be divided in these categories: You'll find the Gazebo APIs below on the following headers: -* [gz/sim/Model.hh](https://gazebosim.org/api/gazebo/3.3/Model_8hh.html) -* [gz/sim/Util.hh](https://gazebosim.org/api/gazebo/3.3/Util_8hh.html) -* [gz/sim/SdfEntityCreator.hh](https://gazebosim.org/api/gazebo/3.3/SdfEntityCreator_8hh.html) -* [gz/sim/EntityComponentManager.hh](https://gazebosim.org/api/gazebo/3.3/classignition_1_1gazebo_1_1EntityComponentManager.html) +* \ref gz/sim/Model.hh +* \ref gz/sim/Util.hh +* \ref gz/sim/SdfEntityCreator.hh +* \ref gz/sim/EntityComponentManager.hh It's worth remembering that most of this functionality can be performed using -the -[EntityComponentManager](https://gazebosim.org/api/gazebo/3.3/classignition_1_1gazebo_1_1EntityComponentManager.html) -directly. The functions presented here exist for convenience and readability. +the \ref gz::sim::EntityComponentManager "EntityComponentManager" directly. +The functions presented here exist for convenience and readability. ### Properties diff --git a/tutorials/migration_plugins.md b/tutorials/migration_plugins.md index 25104ee695..bad1919e6f 100644 --- a/tutorials/migration_plugins.md +++ b/tutorials/migration_plugins.md @@ -1,6 +1,4 @@ -\page migrationplugins - -# Migration from Gazebo Classic: Plugins +\page migrationplugins Migration from Gazebo Classic: Plugins Gazebo Classic supports [6 different C++ plugin types](http://gazebosim.org/tutorials?tut=plugins_hello_world&cat=write_plugin), diff --git a/tutorials/migration_sdf.md b/tutorials/migration_sdf.md index daece419ab..1909bd5b8c 100644 --- a/tutorials/migration_sdf.md +++ b/tutorials/migration_sdf.md @@ -1,6 +1,4 @@ -\page migrationsdf - -# Migration from Gazebo classic: SDF +\page migrationsdf Migration from Gazebo classic: SDF Both Gazebo classic and Gazebo support [SDF](http://sdformat.org/) files to describe the simulation to be loaded. An SDF file defines the world diff --git a/tutorials/migration_sensor_api.md b/tutorials/migration_sensor_api.md index 0616b2b012..de2c996104 100644 --- a/tutorials/migration_sensor_api.md +++ b/tutorials/migration_sensor_api.md @@ -1,6 +1,4 @@ -\page migrationsensorapi - -# Migration from Gazebo-classic: Sensor API +\page migrationsensorapi Migration from Gazebo-classic: Sensor API When migrating plugins from Gazebo-classic to Gazebo, developers will notice that the C++ APIs for both simulators are quite different. Be sure to @@ -32,15 +30,13 @@ can be divided in these categories: You'll find the Gazebo APIs below on the following headers: -* [ignition/gazebo/Sensor.hh](https://gazebosim.org/api/gazebo/6/Sensor_8hh.html) -* [ignition/gazebo/Util.hh](https://gazebosim.org/api/gazebo/6/Util_8hh.html) -* [ignition/gazebo/SdfEntityCreator.hh](https://gazebosim.org/api/gazebo/6/SdfEntityCreator_8hh.html) -* [ignition/gazebo/EntityComponentManager.hh](https://gazebosim.org/api/gazebo/6/classignition_1_1gazebo_1_1EntityComponentManager.html) +* \ref gz/sim/Sensor.hh +* \ref gz/sim/Util.hh +* \ref gz/sim/SdfEntityCreator.hh +* \ref gz/sim/EntityComponentManager.hh It's worth remembering that most of this functionality can be performed using -the -[EntityComponentManager](https://gazebosim.org/api/gazebo/6/classignition_1_1gazebo_1_1EntityComponentManager.html) -directly. +the \ref gz::sim::EntityComponentManager "EntityComponentManager" directly. As an example the `Sensor::Pose()` is a convienient function for querying the `Pose` component from the `EntityComponentManager`, i.e. diff --git a/tutorials/migration_world_api.md b/tutorials/migration_world_api.md index 4a28e28f37..e47a976ae6 100644 --- a/tutorials/migration_world_api.md +++ b/tutorials/migration_world_api.md @@ -1,6 +1,4 @@ -\page migrationworldapi - -# Migration from Gazebo-classic: World API +\page migrationworldapi Migration from Gazebo-classic: World API When migrating plugins from Gazebo-classic to Gazebo, developers will notice that the C++ APIs for both simulators are quite different. Be sure to @@ -34,14 +32,14 @@ can be divided in these categories: You'll find the Gazebo APIs below on the following headers: -* [gz/sim/World.hh](https://gazebosim.org/api/gazebo/3.3/World_8hh.html) -* [gz/sim/Util.hh](https://gazebosim.org/api/gazebo/3.3/Util_8hh.html) -* [gz/sim/SdfEntityCreator.hh](https://gazebosim.org/api/gazebo/3.3/SdfEntityCreator_8hh.html) +* \ref gz/sim/World.hh +* \ref gz/sim/Util.hh +* \ref gz/sim/SdfEntityCreator.hh +* \ref gz/sim/EntityComponentManager.hh It's worth remembering that most of this functionality can be performed using -the -[EntityComponentManager](https://gazebosim.org/api/gazebo/3.3/classignition_1_1gazebo_1_1EntityComponentManager.html) -directly. The functions presented here exist for convenience and readability. +the \ref gz::sim::EntityComponentManager "EntityComponentManager" directly. +The functions presented here exist for convenience and readability. ### Properties diff --git a/tutorials/physics.md b/tutorials/physics.md index ef7bf7999d..98a08b8a78 100644 --- a/tutorials/physics.md +++ b/tutorials/physics.md @@ -10,7 +10,7 @@ by default. Downstream developers may also integrate other physics engines by creating new Gazebo Physics engine plugins. See -[Gazebo Physics](https://gazebosim.org/api/physics/2.0/tutorials.html)'s +[Gazebo Physics](https://gazebosim.org/api/physics/7/tutorials.html)'s tutorials to learn how to integrate a new engine. ## How Gazebo finds engines @@ -79,7 +79,7 @@ To use an existing alternative engine (e.g. Bullet Featherstone) ### From C++ API All features available through the command line are also available through -[gz::sim::ServerConfig](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1ServerConfig.html). +\ref gz::sim::ServerConfig. When instantiating a server programmatically, a physics engine can be passed to the constructor, for example: diff --git a/tutorials/rendering_plugins.md b/tutorials/rendering_plugins.md index 0ba4e34003..9b54418c0e 100644 --- a/tutorials/rendering_plugins.md +++ b/tutorials/rendering_plugins.md @@ -4,7 +4,7 @@ This tutorial will go over how to write Gazebo plugins that alter the 3D scene's visual appearance using Gazebo Rendering APIs. This is not to be confused with integrating a new rendering engine. See -[How to write your own rendering engine plugin](https://gazebosim.org/api/rendering/4.2/renderingplugin.html) +[How to write your own rendering engine plugin](https://gazebosim.org/api/rendering/8/renderingplugin.html) for that. This tutorial will go over a couple of example plugins that are located at @@ -45,8 +45,7 @@ To interact with the server-side scene, you'll need to write an See [Create System Plugins](createsystemplugins.html). To interact with the client-side scene, you'll need to write an -[gz::gui::Plugin](https://gazebosim.org/api/gui/4.1/classignition_1_1gui_1_1Plugin.html), -or a more specialized `gz::sim::GuiSystem` +\ref gz::gui::Plugin, or a more specialized `gz::sim::GuiSystem` if you need to access entities and components. See the [GUI system plugin example](https://github.com/gazebosim/gz-sim/tree/main/examples/plugin/gui_system_plugin). @@ -71,8 +70,7 @@ different for each plugin type. ### Render events on the GUI -The GUI plugin will need to listen to -[gz::gui::events::Render](https://gazebosim.org/api/gui/4.1/classignition_1_1gui_1_1events_1_1Render.html) +The GUI plugin will need to listen to \ref gz::gui::events::Render events. Here's how to do it: 1. Include the GUI events header: diff --git a/tutorials/resources.md b/tutorials/resources.md index d1af43a991..f5b810df3f 100644 --- a/tutorials/resources.md +++ b/tutorials/resources.md @@ -31,16 +31,15 @@ System plugins may be loaded through: * Attached to a **model**: `` * Attached to a **sensor**: `` * Passing the shared library and class to be loaded through - [PluginInfo](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1ServerConfig_1_1PluginInfo.html) - (within [ServerConfig](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1ServerConfig.html)) - when instantiating the - [Server](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1Server.html#a084ef7616f5af42061a7aeded5651ab0). + \ref gz::sim::ServerConfig::PluginInfo "PluginInfo" + (within \ref gz::sim::ServerConfig "ServerConfig") + when instantiating the \ref gz::sim::Server "Server". Gazebo will look for system plugins on the following paths, in order: 1. All paths on the `GZ_SIM_SYSTEM_PLUGIN_PATH` environment variable 2. `$HOME/.gz/sim/plugins` -3. [Systems that are installed with Gazebo](https://gazebosim.org/api/gazebo/7/namespace gz_1_1gazebo_1_1systems.html) +3. \ref gz::sim::systems "Systems that are installed with Gazebo" ### Gazebo GUI plugins @@ -51,7 +50,7 @@ GUI plugins may be loaded through: * Tags in SDF world files, where `filename` is the shared library: * `` -* Tags in [GUI config files](https://gazebosim.org/api/gui/4.2/config.html), +* Tags in [GUI config files](https://gazebosim.org/api/gui/8/config.html), where `filename` is the shared library: * `` * The plugin menu on the top-right of the screen. @@ -62,7 +61,7 @@ Gazebo will look for GUI plugins on the following paths, in order: 2. [GUI plugins that are installed with Gazebo](https://github.com/gazebosim/gz-sim/tree/main/src/gui/plugins) 3. Other paths added by calling `gz::gui::App()->AddPluginPath` 4. `~/.gz/gui/plugins` -5. [Plugins which are installed with Gazebo GUI](https://gazebosim.org/api/gui/4/namespace gz_1_1gui_1_1plugins.html) +5. \ref gz::gui::plugins "Plugins which are installed with Gazebo GUI" ### Physics engines @@ -111,7 +110,7 @@ Top-level entities such as models, lights and actors may be loaded through: * Path / URL to SDF file * (TODO) `gz::msgs::Model`, `gz::msgs::Light` * Within a system, using - [SdfEntityCreator](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1SdfEntityCreator.html) + \ref gz::sim::SdfEntityCreator "SdfEntityCreator" or directly creating components and entities. Gazebo will look for URIs (path / URL) in the following, in order: @@ -155,7 +154,7 @@ call. ### GUI configuration Gazebo Sim's -[GUI configuration](https://gazebosim.org/api/gui/4.2/config.html) +[GUI configuration](https://gazebosim.org/api/gui/8/config.html) can come from the following, in order: 1. The command line option `--gui-config ` diff --git a/tutorials/terminology.md b/tutorials/terminology.md index b4e8df5e6c..81dc324c78 100644 --- a/tutorials/terminology.md +++ b/tutorials/terminology.md @@ -10,19 +10,19 @@ to developers touching the source code. * **Entity**: Every "object" in the world, such as models, links, collisions, visuals, lights, joints, etc. - An entity [is just a numeric ID](namespace gz_1_1gazebo.html#ad83694d867b0e3a9446b535b5dfd208d), + An entity \ref gz::sim::Entity "is just a numeric ID" and may have several components attached to it. Entity IDs are assigned at runtime. * **Component**: Adds a certain functionality or characteristic (e.g., pose, name, material, etc.) to an entity. Gazebo comes with various - [components](namespace gz_1_1gazebo_1_1components.html) + \ref gz::sim::components "components" ready to be used, such as `Pose` and `Inertial`, and downstream developers can also create their own by inheriting from the - [BaseComponent](classignition_1_1gazebo_1_1components_1_1BaseComponent.html) + \ref gz::sim::components::BaseComponent "BaseComponent" class or instantiating a template of - [Component](classignition_1_1gazebo_1_1components_1_1Component.html). + \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. @@ -32,7 +32,7 @@ to developers touching the source code. * **Entity-component manager** (**ECM**): Provides functions for querying, creating, removing and updating entities and components. See the whole API - [here](classignition_1_1gazebo_1_1EntityComponentManager.html). + \ref gz::sim::EntityComponentManager "here". * **Level**: Part of a world, defined by a box volume and the static entities inside it. An entity can be present in more than one level, or in none of @@ -63,10 +63,10 @@ to developers touching the source code. the world, while the **primary** runner is keeping all secondaries in sync. Worlds that are not split across runners don't have a primary runner. -* **[Event manager](classignition_1_1gazebo_1_1EventManager.html)**: +* \ref gz::sim::EventManager "Event manager": Manages events that can be sent across systems and the server. Plugins can create and emit custom - [Event](https://gazebosim.org/api/common/3.0/classignition_1_1common_1_1Event.html)s + \ref gz::common::Event "Event"s and / or emit / listen to events from Gazebo. * **Simulation runner**: Runs a whole world or some levels of a world, but no From c8d16bfe78dcc0983cdf9ca3e47e671c81f91e77 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 14 Sep 2023 18:34:46 -0700 Subject: [PATCH 33/50] Update triggered publisher tutorial (#2150) --------- Signed-off-by: Ian Chen --- tutorials/triggered_publisher.md | 30 ++++++++---------------------- 1 file changed, 8 insertions(+), 22 deletions(-) diff --git a/tutorials/triggered_publisher.md b/tutorials/triggered_publisher.md index 56768e470b..5d497dda86 100644 --- a/tutorials/triggered_publisher.md +++ b/tutorials/triggered_publisher.md @@ -267,8 +267,11 @@ and publish the start message gz topic -t "/start" -m gz.msgs.Empty -p " " ``` +The vehicle will start moving forward and two boxes will eventually fall to +the ground. + Once both boxes have fallen, we can publish a message to invoke a service call -to reset the robot position as well as set the speed to 0. As shown below, the +to reset the vehicle position as well as set the speed to 0. As shown below, the `` sets the linear x speed to 0, and the `` tag contains metadata to invoke a service call to `/world/triggered_publisher/set_pose`. The `reqMsg` is expressed in the human-readable form of Google Protobuf meesages. @@ -291,26 +294,9 @@ Multiple `` tags can be used as well as with the `` tag. ``` -Once both boxes have fallen, we can publish a message to invoke a service call -to reset the robot position as well as set the speed to 0. As shown below, the -`` sets the linear x speed to 0, and the `` tag contains -metadata to invoke a service call to `/world/triggered_publisher/set_pose`. The -`reqMsg` is expressed in the human-readable form of Google Protobuf meesages. -Multiple `` tags can be used as well as with the `` tag. +Publish an empty message to the `/reset_robot` topic to reset the vehicle +back to its original position. -```xml - - - - linear: {x: 0} - - - - +```bash +gz topic -t "/reset_robot" -m gz.msgs.Empty -p " " ``` From b504e5c1837a10f800d3434b1883966ab2da0a7b Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 15 Sep 2023 01:03:33 -0700 Subject: [PATCH 34/50] Fix light_control example and update tutorial (#2149) Signed-off-by: Ian Chen --- examples/standalone/light_control/light_control.cc | 2 ++ tutorials/light_config.md | 9 ++++++--- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/examples/standalone/light_control/light_control.cc b/examples/standalone/light_control/light_control.cc index 329a05862f..1d4abc3341 100644 --- a/examples/standalone/light_control/light_control.cc +++ b/examples/standalone/light_control/light_control.cc @@ -53,6 +53,7 @@ void createLight() entityFactoryRequest.mutable_light()->set_name("point"); entityFactoryRequest.mutable_light()->set_range(4); + entityFactoryRequest.mutable_light()->set_intensity(1); entityFactoryRequest.mutable_light()->set_attenuation_linear(0.5); entityFactoryRequest.mutable_light()->set_attenuation_constant(0.2); entityFactoryRequest.mutable_light()->set_attenuation_quadratic(0.01); @@ -149,6 +150,7 @@ int main(int argc, char **argv) //! [modify light] lightRequest.set_name("point"); lightRequest.set_range(4); + lightRequest.set_intensity(1); lightRequest.set_attenuation_linear(0.5); lightRequest.set_attenuation_constant(0.2); lightRequest.set_attenuation_quadratic(0.01); diff --git a/tutorials/light_config.md b/tutorials/light_config.md index eea79a3237..7d6d906386 100644 --- a/tutorials/light_config.md +++ b/tutorials/light_config.md @@ -7,17 +7,20 @@ This service will allow to modify lights in the scene. To modify lights inside the scene we need to use the service `/world//light_config` and fill the message [`gz::msgs::Light`](https://gazebosim.org/api/msgs/9/classgz_1_1msgs_1_1Light.html). -In particular this example modifies the point light that we introduced with the function `createLight()`. + +This tutorial describes the code in the `examples/standalone/light_control` example. + +First we create a point light with the function `createLight()`: \snippet examples/standalone/light_control/light_control.cc create light **NOTE:**: You can check the [entity creation](entity_creation.html) tutorial to learn how to include models and lights in the scene. -As you can see in the snippet we modify the specular and diffuse colors of the light in the scene. +As you can see in the snippet below, we then modify the specular and diffuse colors of the point light in the scene. \snippet examples/standalone/light_control/light_control.cc modify light -In this case we are creating random numbers to fill the diffuse and specular. +The `r`, `g`, `b` components of the light diffuse and specular colors are randomly generated and constantly changing: \snippet examples/standalone/light_control/light_control.cc random numbers From bb6753a50c9c924dedf1529787e3d3a7ab176d60 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Fri, 15 Sep 2023 09:55:40 -0500 Subject: [PATCH 35/50] Fix reset button in examples (#2151) Signed-off-by: Addisu Z. Taddese --- examples/worlds/boundingbox_camera.sdf | 1 - examples/worlds/camera_sensor.sdf | 1 - examples/worlds/dem_monterey_bay.sdf | 1 - examples/worlds/dem_moon.sdf | 1 - examples/worlds/dem_volcano.sdf | 1 - examples/worlds/depth_camera_sensor.sdf | 1 - examples/worlds/fuel_textured_mesh.sdf | 1 - examples/worlds/grid.sdf | 1 - examples/worlds/lrauv_control_demo.sdf | 1 - examples/worlds/minimal_scene.sdf | 1 - examples/worlds/optical_tactile_sensor_plugin.sdf | 1 - examples/worlds/plot_3d.sdf | 1 - examples/worlds/projector.sdf | 1 - examples/worlds/resource_spawner.sdf | 1 - examples/worlds/segmentation_camera.sdf | 1 - examples/worlds/sensors_demo.sdf | 1 - examples/worlds/shader_param.sdf | 1 - examples/worlds/sky.sdf | 1 - examples/worlds/spherical_coordinates.sdf | 1 - examples/worlds/triggered_camera_sensor.sdf | 1 - examples/worlds/tunnel.sdf | 1 - examples/worlds/video_record_dbl_pendulum.sdf | 1 - examples/worlds/visibility.sdf | 1 - examples/worlds/visualize_contacts.sdf | 1 - examples/worlds/visualize_lidar.sdf | 1 - examples/worlds/wide_angle_camera.sdf | 1 - 26 files changed, 26 deletions(-) diff --git a/examples/worlds/boundingbox_camera.sdf b/examples/worlds/boundingbox_camera.sdf index 4aa95a96ae..7697d17684 100644 --- a/examples/worlds/boundingbox_camera.sdf +++ b/examples/worlds/boundingbox_camera.sdf @@ -82,7 +82,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/camera_sensor.sdf b/examples/worlds/camera_sensor.sdf index 89a71652a8..3d967d701e 100644 --- a/examples/worlds/camera_sensor.sdf +++ b/examples/worlds/camera_sensor.sdf @@ -92,7 +92,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/dem_monterey_bay.sdf b/examples/worlds/dem_monterey_bay.sdf index 953c7178c2..7f2d170121 100644 --- a/examples/worlds/dem_monterey_bay.sdf +++ b/examples/worlds/dem_monterey_bay.sdf @@ -71,7 +71,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/dem_moon.sdf b/examples/worlds/dem_moon.sdf index 8cbbe830f9..a1de71ad5e 100644 --- a/examples/worlds/dem_moon.sdf +++ b/examples/worlds/dem_moon.sdf @@ -78,7 +78,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/dem_volcano.sdf b/examples/worlds/dem_volcano.sdf index 979f0ca383..f48b2779a4 100644 --- a/examples/worlds/dem_volcano.sdf +++ b/examples/worlds/dem_volcano.sdf @@ -70,7 +70,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/depth_camera_sensor.sdf b/examples/worlds/depth_camera_sensor.sdf index 5f17082d60..e666d12f42 100644 --- a/examples/worlds/depth_camera_sensor.sdf +++ b/examples/worlds/depth_camera_sensor.sdf @@ -82,7 +82,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/fuel_textured_mesh.sdf b/examples/worlds/fuel_textured_mesh.sdf index 7ec952f40e..251e195810 100644 --- a/examples/worlds/fuel_textured_mesh.sdf +++ b/examples/worlds/fuel_textured_mesh.sdf @@ -95,7 +95,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/grid.sdf b/examples/worlds/grid.sdf index 62028f2f84..184a946f85 100644 --- a/examples/worlds/grid.sdf +++ b/examples/worlds/grid.sdf @@ -67,7 +67,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/lrauv_control_demo.sdf b/examples/worlds/lrauv_control_demo.sdf index 2be3dc543f..56e3900b2b 100644 --- a/examples/worlds/lrauv_control_demo.sdf +++ b/examples/worlds/lrauv_control_demo.sdf @@ -111,7 +111,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/minimal_scene.sdf b/examples/worlds/minimal_scene.sdf index ae6c78df09..59c67d10cd 100644 --- a/examples/worlds/minimal_scene.sdf +++ b/examples/worlds/minimal_scene.sdf @@ -134,7 +134,6 @@ Features: false false 72 - 121 1 floating diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index 2920a788ee..fcda4ad605 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -97,7 +97,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/plot_3d.sdf b/examples/worlds/plot_3d.sdf index 2f0ed9874c..8abbd11a16 100644 --- a/examples/worlds/plot_3d.sdf +++ b/examples/worlds/plot_3d.sdf @@ -71,7 +71,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/projector.sdf b/examples/worlds/projector.sdf index d2a601c348..00fa8747ce 100644 --- a/examples/worlds/projector.sdf +++ b/examples/worlds/projector.sdf @@ -97,7 +97,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/resource_spawner.sdf b/examples/worlds/resource_spawner.sdf index ec9eb90392..ab101d4b38 100644 --- a/examples/worlds/resource_spawner.sdf +++ b/examples/worlds/resource_spawner.sdf @@ -81,7 +81,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/segmentation_camera.sdf b/examples/worlds/segmentation_camera.sdf index c8644c42ae..c5f4df7def 100644 --- a/examples/worlds/segmentation_camera.sdf +++ b/examples/worlds/segmentation_camera.sdf @@ -85,7 +85,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/sensors_demo.sdf b/examples/worlds/sensors_demo.sdf index ad40dafc3a..9d842a0d76 100644 --- a/examples/worlds/sensors_demo.sdf +++ b/examples/worlds/sensors_demo.sdf @@ -87,7 +87,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/shader_param.sdf b/examples/worlds/shader_param.sdf index 1c47a001e1..ae76f08d71 100644 --- a/examples/worlds/shader_param.sdf +++ b/examples/worlds/shader_param.sdf @@ -87,7 +87,6 @@ ShaderParam visual plugin over time. false false 72 - 121 1 floating diff --git a/examples/worlds/sky.sdf b/examples/worlds/sky.sdf index c1e2c620d5..e001ae59e5 100644 --- a/examples/worlds/sky.sdf +++ b/examples/worlds/sky.sdf @@ -70,7 +70,6 @@ Currently only supported using ogre2 rendering engine plugin. false false 72 - 121 1 floating diff --git a/examples/worlds/spherical_coordinates.sdf b/examples/worlds/spherical_coordinates.sdf index 1519bd64d7..5f76fe3844 100644 --- a/examples/worlds/spherical_coordinates.sdf +++ b/examples/worlds/spherical_coordinates.sdf @@ -163,7 +163,6 @@ gz service -s /world/spherical_coordinates/set_spherical_coordinates \ false false 72 - 121 1 floating diff --git a/examples/worlds/triggered_camera_sensor.sdf b/examples/worlds/triggered_camera_sensor.sdf index 23e2a027d2..38c6af1d05 100644 --- a/examples/worlds/triggered_camera_sensor.sdf +++ b/examples/worlds/triggered_camera_sensor.sdf @@ -98,7 +98,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/tunnel.sdf b/examples/worlds/tunnel.sdf index 2b70a68648..a902e40f03 100644 --- a/examples/worlds/tunnel.sdf +++ b/examples/worlds/tunnel.sdf @@ -108,7 +108,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/video_record_dbl_pendulum.sdf b/examples/worlds/video_record_dbl_pendulum.sdf index aeebffde37..e5eed30f0d 100644 --- a/examples/worlds/video_record_dbl_pendulum.sdf +++ b/examples/worlds/video_record_dbl_pendulum.sdf @@ -164,7 +164,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/visibility.sdf b/examples/worlds/visibility.sdf index 3f0f184837..ed669970a2 100644 --- a/examples/worlds/visibility.sdf +++ b/examples/worlds/visibility.sdf @@ -99,7 +99,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/visualize_contacts.sdf b/examples/worlds/visualize_contacts.sdf index 4e78353353..e39092e014 100644 --- a/examples/worlds/visualize_contacts.sdf +++ b/examples/worlds/visualize_contacts.sdf @@ -89,7 +89,6 @@ Contacts will be visualized as blue spheres and green cylinders. false false 72 - 121 1 floating diff --git a/examples/worlds/visualize_lidar.sdf b/examples/worlds/visualize_lidar.sdf index 54dca0b06c..61f9397505 100644 --- a/examples/worlds/visualize_lidar.sdf +++ b/examples/worlds/visualize_lidar.sdf @@ -83,7 +83,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/wide_angle_camera.sdf b/examples/worlds/wide_angle_camera.sdf index 0dc56149c4..8482ae695c 100644 --- a/examples/worlds/wide_angle_camera.sdf +++ b/examples/worlds/wide_angle_camera.sdf @@ -133,7 +133,6 @@ false false 72 - 121 1 floating From 509d01a614324381ac1826885d3bfe70545e7060 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 19 Sep 2023 17:55:01 -0700 Subject: [PATCH 36/50] Fix another deadlock in sensors system (#2141) Signed-off-by: Ian Chen --- src/systems/sensors/Sensors.cc | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index 3bee1711bd..d70dd6590a 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -390,9 +390,12 @@ void SensorsPrivate::RunOnce() this->activeSensors.clear(); } - this->updateAvailable = false; this->forceUpdate = false; - this->renderCv.notify_one(); + { + std::unique_lock cvLock(this->renderMutex); + this->updateAvailable = false; + this->renderCv.notify_one(); + } } ////////////////////////////////////////////////// @@ -746,9 +749,12 @@ void Sensors::PostUpdate(const UpdateInfo &_info, this->dataPtr->forceUpdate = (this->dataPtr->renderUtil.PendingSensors() > 0) || hasRenderConnections; + } + { + std::unique_lock cvLock(this->dataPtr->renderMutex); this->dataPtr->updateAvailable = true; + this->dataPtr->renderCv.notify_one(); } - this->dataPtr->renderCv.notify_one(); } } } From 4d4b680f8c8ad414946820da5fa9a67b7554359d Mon Sep 17 00:00:00 2001 From: Jasmeet Singh Date: Wed, 20 Sep 2023 23:16:35 +0530 Subject: [PATCH 37/50] Added tutorial for Automatic Inertia Calculator (#2119) Signed-off-by: Jasmeet Singh --- examples/worlds/auto_inertia_pendulum.sdf | 367 ++++++++++++++++++ .../worlds/auto_inertia_rolling_shapes.sdf | 187 +++++++++ tutorials.md.in | 1 + tutorials/auto_inertia_calculation.md | 166 ++++++++ .../auto_inertia/auto_inertia_pendulum.gif | Bin 0 -> 1921301 bytes .../auto_inertia/cylinder_inertia_demo.gif | Bin 0 -> 1888792 bytes .../auto_inertia/rolling_inertia_demo.gif | Bin 0 -> 438725 bytes 7 files changed, 721 insertions(+) create mode 100644 examples/worlds/auto_inertia_pendulum.sdf create mode 100644 examples/worlds/auto_inertia_rolling_shapes.sdf create mode 100644 tutorials/auto_inertia_calculation.md create mode 100644 tutorials/files/auto_inertia/auto_inertia_pendulum.gif create mode 100644 tutorials/files/auto_inertia/cylinder_inertia_demo.gif create mode 100644 tutorials/files/auto_inertia/rolling_inertia_demo.gif diff --git a/examples/worlds/auto_inertia_pendulum.sdf b/examples/worlds/auto_inertia_pendulum.sdf new file mode 100644 index 0000000000..3b9cef933e --- /dev/null +++ b/examples/worlds/auto_inertia_pendulum.sdf @@ -0,0 +1,367 @@ + + + + + + 0.001 + 1.0 + + + + + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + + + -0.188749 0 0.75813399999999997 -0.13567899999999999 0 1.5708 + 256.42500000000001 + + 154.202 + 0 + 0 + 152.286 + 0 + 28.8249 + + + + 0 0 0.01 0 0 0 + + + 0.8 + 0.02 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + -0.275 0 1.1 0 0 0 + + + 0.2 0.2 2.2 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + 0 0 0.01 0 0 0 + + + 0.8 + 0.02 + + + + + -0.275 0 1.1 0 0 0 + + + 0.2 0.2 2.2 + + + + + + + + 0 0 2.1 -1.5708 0 0 + 0 + + + -0.05 0 0 0 1.5708 0 + + + 0.1 + 0.3 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + 0 0 1.0 0 1.5708 0 + + + 0.1 + 0.2 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + 0 0 0.5 0 0 0 + + + 0.1 + 0.9 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + 8000 + -0.05 0 0 0 1.5708 0 + + + 0.1 + 0.3 + + + + + 1000 + 0 0 1.0 0 1.5708 0 + + + 0.1 + 0.3 + + + + + 1000 + 0 0 0.5 0 0 0 + + + 0.1 + 0.9 + + + + + + + + base + upper_link + + 1.0 0 0 + + + + + + 0 3 0 0 0 0 + + + -0.188749 0 0.75813399999999997 -0.13567899999999999 0 1.5708 + 256.42500000000001 + + 154.202 + 0 + 0 + 152.286 + 0 + 28.8249 + + + + 0 0 0.01 0 0 0 + + + 0.8 + 0.02 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + -0.275 0 1.1 0 0 0 + + + 0.2 0.2 2.2 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + 0 0 0.01 0 0 0 + + + 0.8 + 0.02 + + + + + -0.275 0 1.1 0 0 0 + + + 0.2 0.2 2.2 + + + + + + + + 0 0 2.1 -1.5708 0 0 + 0 + + + -0.05 0 0 0 1.5708 0 + + + 0.1 + 0.3 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + 0 0 1.0 0 1.5708 0 + + + 0.1 + 0.2 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + 0 0 0.5 0 0 0 + + + 0.1 + 0.9 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + 100 + -0.05 0 0 0 1.5708 0 + + + 0.1 + 0.3 + + + + + 10000 + 0 0 1.0 0 1.5708 0 + + + 0.1 + 0.3 + + + + + 100 + 0 0 0.5 0 0 0 + + + 0.1 + 0.9 + + + + + + + + base + upper_link + + 1.0 0 0 + + + + + + diff --git a/examples/worlds/auto_inertia_rolling_shapes.sdf b/examples/worlds/auto_inertia_rolling_shapes.sdf new file mode 100644 index 0000000000..dbf777fb03 --- /dev/null +++ b/examples/worlds/auto_inertia_rolling_shapes.sdf @@ -0,0 +1,187 @@ + + + + + + 0.001 + 1.0 + + + + + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + 0 0 3 0 -0.52 0 + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + true + 0 0 0 0 0 0 + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 0 3.6 1.57079632679 0 0 + + + + 7810.0 + + + 0.5 + 1.0 + + + + + + + + 0.5 + 1.0 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + + hollow_cylinder + 0 -1.5 3.6 1.57079632679 0 0 + https://fuel.gazebosim.org/1.0/jasmeetsingh/models/Hollow Cylinder + + + + 0 1.5 3.6 0 0 0 + + + + 1000 + + + 0.5 + + + + + + + + 0.5 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + + + + + 0 3.3 3.6 1.57079632679 0 0 + + + + 2710 + + + 0.5 + 0.7 + + + + + + + 0.5 + 0.7 + + + + 0 1 1 1 + 0 1 1 1 + 0 1 1 1 + + + + + + diff --git a/tutorials.md.in b/tutorials.md.in index 10ace242e8..0c6f51aab3 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -53,6 +53,7 @@ Gazebo @GZ_DESIGNATION_CAP@ library and how to use the library effectively. * \subpage spherical_coordinates "Spherical coordinates": Working with latitude and longitude * \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. ## Advanced users diff --git a/tutorials/auto_inertia_calculation.md b/tutorials/auto_inertia_calculation.md new file mode 100644 index 0000000000..e9f1322ccd --- /dev/null +++ b/tutorials/auto_inertia_calculation.md @@ -0,0 +1,166 @@ +\page auto_inertia_calculation Automatic Inertia Calculation for Links + +## Automatic Inertia Calculation for SDFormat Links + +This feature enables automatic calculation for the Moments of Inertia, Mass, and +Inertial Pose (Center of Mass pose) of a link described using SDFormat. The following +geometry types are currently supported for this feature: + * Box + * Capsule + * Cylinder + * Ellipsoid + * Sphere + * Mesh + +Using this feature, a user can easily set up an accurate simulation with physically +plausible inertial values for a link. This also removes the dependency on manual calculations +or 3rd-party mesh processing software which can help lower the barrier of entry for beginners. + +This tutorial will focus on how this feature can be enabled and how the +inertia values for a link can be configured. Some limitations and recommendations +would also be discussed along the way that would allow users to more mindfully utilize this feature. + +## Basic Overview + +This feature introduced a new `auto` attribute for the `` tag which can be set + to enable or disable the automatic calculations. It'll be set to false by default. + +```xml + +``` + +In case, `auto` is set to true, the constituent **collision geometries** of the link are +considered for the calculations. The `` tag can be used to specify +the mass density value of the collision in kg/m^3. The density of water (1000 kg/m^3) is +utilized as the default value: + +```xml + + 2710.0 + + + 1 1 1 + + + +``` + +In case of multiple collision geometries in a link, a user is free to provide different +density values for each and the inertia values from each would be aggregated to calculate +the final inertia of the link. However, if there are no collisions present, +an `ELEMENT_MISSING` error would be thrown. + +It is **important** to note here that if `auto` is set to `true` and the user has +still provided values through the ``, `` and `` tags, they +would be **overwritten** by the automatically computed values. + +> **Note:** Use SDF Spec version 1.11 or greater to utilize the new tags and attributes of this feature. + +Here's an example snippet of a cylinder model that has automatic inertial calculations +enabled and has a density of 1240 kg/m^3: + +```xml + + + + + 1240.0 + + + 1 + 2 + + + + + + + 1 + 2 + + + + 1.0 1.0 0.0 1.0 + 1.0 1.0 0.0 1.0 + 1.0 1.0 0.0 1.0 + + + + +``` + +If you use the above snippet in an empty world and launch it with `gz-sim`, here's +how it would look: + +![Cylinder](files/auto_inertia/cylinder_inertia_demo.gif) + +## Links with Multiple Collisions & the Effect of Density + +To understand the inertia calculation in links with multiple collisions and the +effect of setting different density values, you can launch the `auto_inertia_pendulum.sdf` +example world using: + +```bash +gz sim auto_inertia_pendulum.sdf +``` + +After the gz-sim window opens up, you can right click on both the models and enable +the centre of mass visualization by selecting the `View > Center of Mass` option from +the menu. Once you play the simulation it should look this: + +![Pendulum](files/auto_inertia/auto_inertia_pendulum.gif) + +This example world has two structurally indentical models. The pendulum link of both +the models contain 3 cylindrical collision geometries: + - One on the top which forms the joint (pivot) + - A longer cylinder in middle + - One at the end which forms the bob of the cylinder. + +Even, though they are identical, the center of mass for both are different +as they use different density values for the different cylinder collisions. On one +hand, the upper joint collision of the pendulum on the left has the highest density +which causes the center of mass to shift closer to the axis. While on the other hand, +the bob collision of the pendulum on the right has the highest density which causes +the center of mass to shift towards the end of the pendulum. +This difference in mass distribution about the axis of rotation results in a difference +in the moment of inertia of the 2 setups and hence different angular velocities. + +## Mesh Inertia Calculation with Rolling Shapes Demo + +Let's try another example world, `auto_inertia_rolling_shapes.sdf`. This can be +launched with `gz sim` using the following command: + +```bash +gz sim auto_inertia_rolling_shapes.sdf +``` + +Once you launch and play the simulation, it should look something like this: + +![Rolling](files/auto_inertia/rolling_inertia_demo.gif) + +Here the right most shapes is a hollow cylinder (yellow). This model is loaded from +[Gazebo Fuel](https://app.gazebosim.org/jasmeetsingh/fuel/models/Hollow%20Cylinder) +and is made using a collada mesh of a hollow cylinder. Apart from this, we can +see there is a solid cylinder, a solid sphere and a solid capsule. All of these are +made using the `` tag and have automatic inertia calculations enabled. +Here, the moments of inertia for the hollow cylinder (which is a non-convex mesh shape) is +calculated and from the simulation we can see that it reaches the bottom of the +incline last. This is physically accurate as the mass distribution for the hollow +cylinder is concentrated at a distance from the axis of rotation (which passes through +the center of mass in this case). + +## Key Points on Mesh Inertia Calculator + +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 + a better overall simulation performance or RTF. + * Currently, the mesh inertia calculator does not work well with meshes having submeshes. + Therefore, they are not recommended for automatic computation. diff --git a/tutorials/files/auto_inertia/auto_inertia_pendulum.gif b/tutorials/files/auto_inertia/auto_inertia_pendulum.gif new file mode 100644 index 0000000000000000000000000000000000000000..b74d8e7a8f96e8a8dbbfff1af8574b6610d22346 GIT binary patch literal 1921301 zcmeEt`8O0^{Qj8LGBbvdy+QV+v1H%IAfXzOE%hE*QlY8rNwY8`S+gWjV=Gxl_9e|2 z%OoKoq#BWIX%MNDPoMwb`}6mF?z!jOd(J)go_p?jJ+JfJ=RWtyQAblVe>A8@;D>-d zfWHga0|*ERK-Yc=k{SeuR)mNTMRG^stQlzpT)KH!=EP-1d08bDO(olt%1Q?hY8j}j ztEsDNs~cHp@HREoHMP`KwKX)fHMO<1v~;v|bhNc~{x!rrorfKI%4j`pJ$+pb14_A( zfsv7w<6*3_nQxf6zPc68#m34SD+0z@TRXj)Kk9-%`q0Ulx9j>}_^~5)#~OxDxt;VP 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