w

cmake/DARTFindDependencies.cmake

@@ -114,7 +114,7 @@ if(DART_BUILD_PROFILE)
   include(FetchContent)
   FetchContent_Declare(tracy
     GIT_REPOSITORY https://github.com/wolfpld/tracy.git
-    GIT_TAG v0.10
+    GIT_TAG master
     GIT_SHALLOW TRUE
     GIT_PROGRESS TRUE
   )
@@ -124,7 +124,7 @@ if(DART_BUILD_PROFILE)
   else()
     target_compile_options(TracyClient PRIVATE -w)
   endif()
-  target_compile_definitions(TracyClient PRIVATE TRACY_ENABLE)
+  target_compile_definitions(TracyClient PUBLIC TRACY_ENABLE)
 endif()
 
 find_package(Python3 COMPONENTS Interpreter Development)

dart/simulation/World.cpp

@@ -163,12 +163,9 @@ void World::reset()
 //==============================================================================
 void World::step(bool _resetCommand)
 {
-  // DART_PROFILE_FRAME;
-
   // Integrate velocity for unconstrained skeletons
   {
-    // DART_PROFILE_SCOPED;
-    ZoneScoped;
+    DART_PROFILE_SCOPED;
     for (auto& skel : mSkeletons) {
       if (!skel->isMobile())
         continue;
@@ -205,6 +202,7 @@ void World::step(bool _resetCommand)
 
   mTime += mTimeStep;
   mFrame++;
+  FrameMarkNamed("step");
 }
 
 //==============================================================================

docker/dev/v6.14/Dockerfile.orbit

@@ -0,0 +1,30 @@
+# Use Ubuntu 22.04 (Jammy Jellyfish) as the base image
+FROM ubuntu:22.04
+
+# Avoid prompts from apt
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Update and install wget and software-properties-common (for add-apt-repository)
+RUN apt-get update && apt-get install -y \
+    libgl1-mesa-glx \
+    libgl1-mesa-dri \
+    software-properties-common \
+    wget \
+    && rm -rf /var/lib/apt/lists/*
+
+# Add necessary repository for dependencies, if any (adjust as necessary)
+# For example, universe might contain some dependencies
+RUN add-apt-repository universe
+
+# Download the orbit package from the provided URL
+RUN wget https://github.com/google/orbit/releases/download/nightly-2024-03-21/orbit_1.86dev-478-g3493933c5-1.jammy1_amd64.deb
+
+# Install the package with dpkg, then use apt-get to install any missing dependencies
+# This step assumes all dependencies are available in the repositories added earlier
+RUN dpkg -i orbit_1.86dev-478-g3493933c5-1.jammy1_amd64.deb || apt-get update && apt-get install -f -y
+
+# Clean up
+RUN apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+
+# Define the container's entry point
+ENTRYPOINT ["vglrun /opt/orbitprofiler/Orbit"]

docker/dev/v6.14/Dockerfile.tracy

@@ -0,0 +1,34 @@
+# Use an Ubuntu base image
+FROM ubuntu:22.04
+
+# Avoid warnings by switching to noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install build dependencies, X11 libraries, CA certificates, and Wayland protocols
+RUN apt-get update && apt-get install -y \
+    build-essential \
+    cmake \
+    git \
+    libx11-dev \
+    libgl1-mesa-dev \
+    libgtk-3-dev \
+    xorg-dev \
+    ca-certificates \
+    wayland-protocols \
+    --no-install-recommends \
+    && rm -rf /var/lib/apt/lists/*
+
+# Clone the Tracy Profiler repository
+RUN git clone --depth 1 https://github.com/wolfpld/tracy.git
+
+# Build Tracy Profiler
+WORKDIR /tracy/profiler/build/unix
+RUN cmake ../.. && make
+
+# Use the `entrypoint.sh` to start the profiler
+COPY entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+
+# Reset the frontend to its default value
+ENV DEBIAN_FRONTEND=

docker/dev/v6.14/entrypoint.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+# entrypoint.sh
+
+# Use the host's display server for the GUI
+export DISPLAY=host.docker.internal:0
+
+# Start Tracy Profiler
+./tracy/profiler/build/unix/Tracy-release

examples/speed_test/CMakeLists.txt

@@ -4,16 +4,8 @@ get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
 
 project(${example_name})
 
-set(required_components utils-urdf)
-set(required_libraries dart dart-utils-urdf)
-
 if(DART_IN_SOURCE_BUILD)
-  dart_build_example_in_source(${example_name} LINK_LIBRARIES ${required_libraries})
+  dart_build_example_in_source(${example_name} LINK_LIBRARIES )
+  target_link_libraries(${example_name} PUBLIC TracyClient pthread)
   return()
 endif()
-
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
-
-file(GLOB srcs "*.cpp" "*.hpp")
-add_executable(${example_name} ${srcs})
-target_link_libraries(${example_name} PUBLIC ${required_libraries})

examples/speed_test/main.cpp

@@ -30,221 +30,37 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/utils/utils.hpp"
+#include <tracy/Tracy.hpp>
 
-#include <dart/dart.hpp>
+#include <thread>
+#include <iostream>
 
-#include <chrono>
-#include <numeric>
-
-double testForwardKinematicSpeed(
-    dart::dynamics::SkeletonPtr skel,
-    bool position = true,
-    bool velocity = true,
-    bool acceleration = true,
-    std::size_t numTests = 100000)
-{
-  if (nullptr == skel)
-    return 0;
-
-  dart::dynamics::BodyNode* bn = skel->getBodyNode(0);
-  while (bn->getNumChildBodyNodes() > 0)
-    bn = bn->getChildBodyNode(0);
-
-  std::chrono::time_point<std::chrono::system_clock> start, end;
-  start = std::chrono::system_clock::now();
-
-  for (std::size_t i = 0; i < numTests; ++i) {
-    for (std::size_t i = 0; i < skel->getNumDofs(); ++i) {
-      dart::dynamics::DegreeOfFreedom* dof = skel->getDof(i);
-      dof->setPosition(dart::math::Random::uniform(
-          std::max(dof->getPositionLowerLimit(), -1.0),
-          std::min(dof->getPositionUpperLimit(), 1.0)));
-    }
-
-    for (std::size_t i = 0; i < skel->getNumBodyNodes(); ++i) {
-      if (position)
-        skel->getBodyNode(i)->getWorldTransform();
-      if (velocity) {
-        skel->getBodyNode(i)->getSpatialVelocity();
-        skel->getBodyNode(i)->getPartialAcceleration();
-      }
-      if (acceleration)
-        skel->getBodyNode(i)->getSpatialAcceleration();
-    }
+void worker1() {
+  while (true) {
+    ZoneScoped;
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+    std::cout << "worker2..." << std::endl;
   }
-
-  end = std::chrono::system_clock::now();
-
-  std::chrono::duration<double> elapsed_seconds = end - start;
-  return elapsed_seconds.count();
 }
 
-void runKinematicsTest(
-    std::vector<double>& results,
-    const std::vector<dart::simulation::WorldPtr>& worlds,
-    bool position,
-    bool velocity,
-    bool acceleration)
-{
-  double totalTime = 0;
-  std::cout << "Testing: ";
-  if (position)
-    std::cout << "Position ";
-  if (velocity)
-    std::cout << "Velocity ";
-  if (acceleration)
-    std::cout << "Acceleration ";
-  std::cout << "\n";
-
-  // Test for updating the whole skeleton
-  for (std::size_t i = 0; i < worlds.size(); ++i) {
-    dart::simulation::WorldPtr world = worlds[i];
-    totalTime += testForwardKinematicSpeed(
-        world->getSkeleton(0), position, velocity, acceleration);
-  }
-  results.push_back(totalTime);
-  std::cout << "Result: " << totalTime << "s" << std::endl;
-}
-
-double testDynamicsSpeed(
-    dart::simulation::WorldPtr world, std::size_t numIterations = 10000)
-{
-  if (nullptr == world)
-    return 0;
-
-  world->eachSkeleton([](dart::dynamics::Skeleton* skel) {
-    skel->resetPositions();
-    skel->resetVelocities();
-    skel->resetAccelerations();
-  });
-
-  std::chrono::time_point<std::chrono::system_clock> start, end;
-  start = std::chrono::system_clock::now();
-
-  for (std::size_t i = 0; i < numIterations; ++i) {
-    world->step();
-  }
-
-  end = std::chrono::system_clock::now();
-
-  std::chrono::duration<double> elapsed_seconds = end - start;
-  return elapsed_seconds.count();
-}
-
-void runDynamicsTest(
-    std::vector<double>& results,
-    const std::vector<dart::simulation::WorldPtr>& worlds)
-{
-  double totalTime = 0;
-
-  for (std::size_t i = 0; i < worlds.size(); ++i) {
-    totalTime += testDynamicsSpeed(worlds[i]);
+void worker2() {
+  while (true) {
+    ZoneScoped;
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    std::cout << "worker1..." << std::endl;
+    FrameMark;
   }
-
-  results.push_back(totalTime);
-  std::cout << "Result: " << totalTime << "s" << std::endl;
-}
-
-void print_results(const std::vector<double>& result)
-{
-  double sum = std::accumulate(result.begin(), result.end(), 0.0);
-  double mean = sum / result.size();
-  std::cout << "Average: " << mean << "\n";
-  std::vector<double> diff(result.size());
-  std::transform(
-      result.begin(),
-      result.end(),
-      diff.begin(),
-      std::bind(std::minus<double>(), mean, std::placeholders::_1));
-  double stddev = std::sqrt(
-      std::inner_product(diff.begin(), diff.end(), diff.begin(), 0.0)
-      / result.size());
-  std::cout << "Std Dev: " << stddev << "\n";
-}
-
-std::vector<std::string> getSceneFiles()
-{
-  std::vector<std::string> scenes;
-  scenes.push_back("dart://sample/skel/test/chainwhipa.skel");
-  scenes.push_back("dart://sample/skel/test/single_pendulum.skel");
-  scenes.push_back("dart://sample/skel/test/single_pendulum_euler_joint.skel");
-  scenes.push_back("dart://sample/skel/test/single_pendulum_ball_joint.skel");
-  scenes.push_back("dart://sample/skel/test/double_pendulum.skel");
-  scenes.push_back("dart://sample/skel/test/double_pendulum_euler_joint.skel");
-  scenes.push_back("dart://sample/skel/test/double_pendulum_ball_joint.skel");
-  scenes.push_back("dart://sample/skel/test/serial_chain_revolute_joint.skel");
-  scenes.push_back("dart://sample/skel/test/serial_chain_eulerxyz_joint.skel");
-  scenes.push_back("dart://sample/skel/test/serial_chain_ball_joint.skel");
-  scenes.push_back("dart://sample/skel/test/serial_chain_ball_joint_20.skel");
-  scenes.push_back("dart://sample/skel/test/serial_chain_ball_joint_40.skel");
-  scenes.push_back("dart://sample/skel/test/simple_tree_structure.skel");
-  scenes.push_back(
-      "dart://sample/skel/test/simple_tree_structure_euler_joint.skel");
-  scenes.push_back(
-      "dart://sample/skel/test/simple_tree_structure_ball_joint.skel");
-  scenes.push_back("dart://sample/skel/test/tree_structure.skel");
-  scenes.push_back("dart://sample/skel/test/tree_structure_euler_joint.skel");
-  scenes.push_back("dart://sample/skel/test/tree_structure_ball_joint.skel");
-  scenes.push_back("dart://sample/skel/fullbody1.skel");
-
-  return scenes;
 }
 
-std::vector<dart::simulation::WorldPtr> getWorlds()
+int main()
 {
-  std::vector<std::string> sceneFiles = getSceneFiles();
-  std::vector<dart::simulation::WorldPtr> worlds;
-  for (std::size_t i = 0; i < sceneFiles.size(); ++i)
-    worlds.push_back(dart::utils::SkelParser::readWorld(sceneFiles[i]));
+  std::cout << "starting.." << std::endl;
 
-  return worlds;
-}
+  std::thread t1(worker1);
+  std::thread t2(worker2);
 
-int main(int argc, char* argv[])
-{
-  bool test_kinematics = false;
-  for (int i = 1; i < argc; ++i) {
-    if (std::string(argv[i]) == "-k")
-      test_kinematics = true;
-  }
-
-  std::vector<dart::simulation::WorldPtr> worlds = getWorlds();
-
-  if (test_kinematics) {
-    std::cout << "Testing Kinematics" << std::endl;
-    std::vector<double> acceleration_results;
-    std::vector<double> velocity_results;
-    std::vector<double> position_results;
-
-    for (std::size_t i = 0; i < 10; ++i) {
-      std::cout << "\nTrial #" << i + 1 << std::endl;
-      runKinematicsTest(acceleration_results, worlds, true, true, true);
-      runKinematicsTest(velocity_results, worlds, true, true, false);
-      runKinematicsTest(position_results, worlds, true, false, false);
-    }
-
-    std::cout << "\n\n --- Final Kinematics Results --- \n\n";
-
-    std::cout << "Position, Velocity, Acceleration\n";
-    print_results(acceleration_results);
-
-    std::cout << "\nPosition, Velocity\n";
-    print_results(velocity_results);
-
-    std::cout << "\nPosition\n";
-    print_results(position_results);
-
-    return 0;
-  }
-
-  std::cout << "Testing Dynamics" << std::endl;
-  std::vector<double> dynamics_results;
-  for (std::size_t i = 0; i < 10; ++i) {
-    std::cout << "\nTrial #" << i + 1 << std::endl;
-    runDynamicsTest(dynamics_results, worlds);
-  }
+  t1.join();
+  t2.join();
 
-  std::cout << "\n\n --- Final Dynamics Results --- \n\n";
-  print_results(dynamics_results);
+  return 0;
 }