Skip to content

Instantly share code, notes, and snippets.

@yaswanth1701

yaswanth1701/GSoC'24_contributions.md

Last active August 14, 2024 16:49
Show Gist options

  • Select an option

    Learn more about clone URLs
  • Save yaswanth1701/06a2503e62962548020849965f5a3cf7 to your computer and use it in GitHub Desktop.

Select an option

Learn more about clone URLs
Save yaswanth1701/06a2503e62962548020849965f5a3cf7 to your computer and use it in GitHub Desktop.
Download ZIP
Raw
GSoC'24_contributions.md

Google Summer of Code 2024 Contribution Summary

Project Description:

A wide variety of robotics applications strongly rely on simulator performance. While many open-source simulators/physics engines are available, each with its benefits and drawbacks, there is a lack of simulator-agnostic benchmarks to help developers and users compare and choose the right simulator/physics engine for their specific use case. This project aims to introduce a small number of simple benchmarking worlds to compare various physics engines based on metrics like computational time and numerical accuracy.

We have performed benchmark with Gazebo (Classic and Ionic) and have developed a set of functionalities like logging, log format conversion, dynamics world generation and simulator independent post-processing script that will allow for easy integration with other simulators and adding of new worlds.

Performance metrics:
  1. Numerical accuracy
  2. Compution time
  3. Friction cone models
  4. Contact force accuracy
Tested simulators:
  1. Gazebo Classic
  2. New Gazebo (gz-sim)

A detailed project report can be found here.

List of pull requests:

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment