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Use world solver in ocean waves world #236

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merged 2 commits into from
Mar 24, 2022
Merged

Use world solver in ocean waves world #236

merged 2 commits into from
Mar 24, 2022

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scpeters
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@scpeters scpeters commented Mar 10, 2022 •
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This reduces noise in the force-torque sensor readings and joint velocity measurements to address #167.

Default quick-step solver

This has noise in the force-torque sensor outputs but even more significantly in the joint velocity measurements.

dave_demo_quick.mp4

World-step solver

This significantly reduces noise in all joints, with only the oberon/pitch joint showing noise in its velocity measurement.

dave_demo_world.mp4

cc @crvogt

@scpeters
Use world solver in ocean waves world
a63f8c8 
This reduces noise in the force-torque sensor readings.

Signed-off-by: Steve Peters <[email protected]>
@scpeters scpeters mentioned this pull request Mar 10, 2022
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@mabelzhang mabelzhang requested a review from crvogt March 11, 2022 00:45
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Note: Might need to add to other demos as well

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@scpeters I just tried this out with the integrated world and I'm seeing the terminal flooded with these messages

ODE Message 3: LCP internal error, s <= 0 (s=-7.8712e+02)

ODE Message 3: LCP internal error, s <= 0 (s=-8.9315e+09)

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@scpeters I just tried this out with the integrated world and I'm seeing the terminal flooded with these messages

ODE Message 3: LCP internal error, s <= 0 (s=-7.8712e+02)

ODE Message 3: LCP internal error, s <= 0 (s=-8.9315e+09)

sorry I forgot to mention that. This message is annoying but expected with this solver. There is an API call to disable these messages (from bitbucket pull request 2512 merged in gazebosim/gazebo-classic@dacd915). There is currently a way to disable the console messages via the C++ API (world->GetPhysicsEngine()->SetParam("ode_quiet", true);), but I'll see if I can make it work from an SDFormat parameter as well.

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@scpeters I just tried this out with the integrated world and I'm seeing the terminal flooded with these messages

ODE Message 3: LCP internal error, s <= 0 (s=-7.8712e+02)

ODE Message 3: LCP internal error, s <= 0 (s=-8.9315e+09)

sorry I forgot to mention that. This message is annoying but expected with this solver. There is an API call to disable these messages (from bitbucket pull request 2512 merged in osrf/gazebo@dacd915). There is currently a way to disable the console messages via the C++ API (world->GetPhysicsEngine()->SetParam("ode_quiet", true);), but I'll see if I can make it work from an SDFormat parameter as well.

I think we can set it from an SDFormat parameter: see gazebosim/gazebo-classic#3194

Yadunund
Yadunund approved these changes Mar 24, 2022
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Thanks for the clarification.
Do we want to add the <ode_quiet>1</ode_quiet> element here? I'll approve this PR in case nonetheless.

@scpeters
Add ode_quiet parameter to <physics/>
7a23e50 
Once gazebosim/gazebo-classic#3194 is released, this will silence the
LCP Internal Error console messages.

Signed-off-by: Steve Peters <[email protected]>
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Thanks for the clarification.
Do we want to add the <ode_quiet>1</ode_quiet> element here? I'll approve this PR in case nonetheless.

added in 7a23e50

@Yadunund Yadunund mentioned this pull request Mar 24, 2022
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Created a ticket for updating all other worlds in the future. #245

@Yadunund Yadunund merged commit ec03d3a into Field-Robotics-Lab:master Mar 24, 2022
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@Yadunund Yadunund Yadunund approved these changes

@crvogt crvogt Awaiting requested review from crvogt

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@scpeters @mabelzhang @Yadunund