Investigate how to speed up the simulation of ergocub with walking-controllers

robotology / gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).

BSD 3-Clause "New" or "Revised" License

8 stars 0 forks source link

Investigate how to speed up the simulation of ergocub with walking-controllers #129

Open xela-95 opened 3 months ago

xela-95 commented 3 months ago

https://github.com/robotology/gz-sim-yarp-plugins/issues/122#issuecomment-2009914495

Investigations routes:

[ ] Run headless (no GUI)
[ ] Remove collisions except for feet
[ ] Chop away part of the robots
[ ] Remove sensors not used for walking

traversaro commented 3 months ago

* [ ]  Remove collisions except for feet

We already have this model in ergocub-models, it is called ergoCubGazeboV1_1_minContacts . At this point, probably you can consider looking into adding support for gz-sim-yarp-plugins into the models generated by https://github.com/icub-tech-iit/ergocub-software, and then you will get that model to test for free (fyi @Nicogene).

xela-95 commented 3 months ago

We already have this model in ergocub-models, it is called ergoCubGazeboV1_1_minContacts . At this point, probably you can consider looking into adding support for gz-sim-yarp-plugins into the models generated by https://github.com/icub-tech-iit/ergocub-software, and then you will get that model to test for free (fyi @Nicogene).

Opened an issue for this: #130