Documentation for physics benchmarks in the Gazebo-classic simulator. This folder contains documentation for several multibody benchmark problems in iPython notebook format. These documents can be viewed online in the following locations or on your own machine following the instructions given below:
These benchmarks can be run for the physics engines supported by gazebo:
- Open Dynamics Engine (ODE), (source code on bitbucket)
- Bullet, (source code on github)
- Simbody, (source code on github)
- Dynamic Animation and Robotics Toolkit (DART), (source code on github)
The benchmarks tests are hosted in the scpeters/benchmark repository on github. There are several plots and presentations in the pdf folder, including presentations from ROSCon 2014 (video) and Multibody 2015.
To run the tests, build or install gazebo 6 or later with the optional physics engines, and then clone and build the benchmarks:
git clone https://github.com/scpeters/benchmark
pip install lz4 protobuf zstandard
cd benchmark
git submodule update --init --recursive
mkdir build
cd build
cmake ..
make
make test
Once the tests are completed,
they will create time-stamped csv files in the test_results folder of the git repository.
To load and visualize the test results, you should make sure ipython notebook, matplotlib, and numpy are installed on your machine:
# Ubuntu Precise: do this step first
# Trusty uses ipython 1.2.1, use ppa on Precise to get the newer version
sudo apt-add-repository ppa:jtaylor/ipython
# Ubuntu Precise and Trusty
sudo apt-get install ipython-notebook python-matplotlib python-numpy
# Mac
brew install matplotlib
# do the following in specific terminals when using ipython notebook
export PYTHONPATH=/usr/local/lib/python2.7/site-packages
With the proper dependencies installed run ipython notebook from the root of the git repository and open the boxes_results notebook:
ipython notebook