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osrf / drcsim

Repository for the DRC project.
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Running with Robotiq hands results in 20-50% slower simulation speed #464

Open osrf-migration opened 9 years ago

osrf-migration commented 9 years ago

Original report (archived issue) by GoRobotGo (Bitbucket: GoRobotGo).

The Robotiq hands seem to have a larger impact on simulation speed than expected. If you compare the faster cases: roslaunch drcsim_gazebo drc_practice_task_1.launch roslaunch drcsim_gazebo drc_practice_task_1.launch model_args:="_v4"

to the slower cases: roslaunch drcsim_gazebo drc_practice_task_1.launch hand_suffix:="_robotiq_hands" roslaunch drcsim_gazebo drc_practice_task_1.launch model_args:="_v4" hand_suffix:="_robotiq_hands"

It appears that the Robotiq hands cause a 20-50% simulation speed slowdown.

osrf-migration commented 9 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

Confirmed. RobotiQ hand is a pretty complicated model, with multiple sets of 4 bar linkages per finger to simulate joint coupling.

Do you need a simplified version with PID servoed joint coupling?

osrf-migration commented 9 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

osrf-migration commented 9 years ago

Original comment by GoRobotGo (Bitbucket: GoRobotGo).

We are currently using a simplified version that has only a single joint per finger due to the simulation speed impact of the full Robotiq hand. It is too painful for the sim to run 1/2 as fast when having to run with high iters for stability.