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Partial answer here. My impression is that the number of contacts, not mesh geometry, are one of the largest bottlenecks in simulation.

It may be worth your time to experiment with different maxContacts values in your *.urdf/xacro, e.g:

<gazebo reference="LINK_NAME" >
  <maxContacts="NUMBER_OF_CONTACTS"/>
</gazebo>

Partial answer here. My impression is that the number of contacts, not mesh geometry, are is one of the largest bottlenecks in simulation.

It may be worth your time to experiment with different maxContacts values in your *.urdf/xacro, e.g:

<gazebo reference="LINK_NAME" >
  <maxContacts="NUMBER_OF_CONTACTS"/>
</gazebo>