Instrument tools are provided to dump physical data into HDF5 format. The datasets, together with the Benchmark Problems for Multibody Dynamis (BPMD) framework are used to compare different methods in solving multibody systems with bilateral joints and unilateral frictional contacts in an unbiased way. These datasets will help researchers to concentrate on analysis of existing methods and construction of more accurate solvers, without worrying about implementation of the whole physics engine.
sudo apt-get install libhdf5-dev
This HDF5 instrument tool requires building Gazebo from source, with the cmake parameter
HDF5_INSTRUMENT [default False] as True.
Learn how to build Gazebo from source
cd ~/gazebo mkdir build cd build cmake -DHDF5_INSTRUMENT=True ../ make -j4 sudo make install
Then a file named
ode_frames.hdf5 will be generated at the directory exactly where the
above command is run.
hdfvivew is used to open the hdf5 files. You can install it via the terminal:
sudo apt-get install hdfview
Then open the stored file with:
A hierarchical file shows up:
Note: The instrument tool will save hierarchical data for each time step, so it will be
slow to write the data into the
Be patient, especially for complex simulation scenarios such as Atlas robots or many body simulation.