- Features to change joint properties at run-time.
- Physics: set link velocity from *VelocityReset components .
- Set link velocity from set_model_state plugin.
- Added mcap logging functionality.
- Added dynamic generation and loading sdf file into gazebo functionality.
- Fixed the global translation in MovableText::getWorldTransforms.
Contributor: Yaswanth Gonna
yaswanth1701
/ GSoC'24_contributions.md
Last active
August 14, 2024 16:49
- Project: Benchmarking Physics Engines
- Orgranisation: Open Source Robotics Foundation (OSRF)
- Contributer: Yaswanth Gonna
- Mentor: Steve Peters
- Repositories: benchmark (Gazebo Classic), simulation_benchmark(New Gazebo)
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 numeric