How can I improve cable simulation performance?

asked 2015-08-18 11:29:53 -0500

Eduardo Albuquerque gravatar image

updated 2015-08-18 11:40:38 -0500

Hi

I'm making a cable using small cylinders and universal joints (like the model in this example https://bitbucket.org/osrf/gazebomodels/src/de9abaab0588d76bc0e940dbdf0078b4bfe7b78a/firehose_long/?at=default). The problem is when the number of links is bigger than 20~30 links the real time ratio get very low. I need it to be at least greater than 0.7. How can I improve performance?

The cable must collide with other objects but it doesen't need to collide with itself. I'm currently using a cylinder primitive as collider.

Is there any way to optimize/simplify this model? Any small hacks to improve performance?

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Comments

Hey Eduardo! I was actually looking for simulating a cable in Gazebo and came up with your post. Following the fire hose model is not helping much cause it seems like when I try to remove the tips, the hose stops working as a hose and gets still like a stick (not the type of behavior one wants I guess). Did you end up solving the above issue? Is there a way you can share your findings? Thanks in advance

Nuno Marques gravatar imageNuno Marques ( 2018-02-26 17:51:19 -0500 )edit