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Mesh optimization for "fast" simulation

asked 2018-07-25 15:55:12 -0500

vonunwerth gravatar image

Hi, i created a robot model with some links. All links are meshes, like the UR10 from Universal Robotics has its shoulder_link, elbow_link and so on. For example the simulation for the UR-10 uses the meshes as collision elements. How much would it improve the speed of our simulation to improve the meshes (ex the base from 300 faces to 50 faces). Is there a rule for a good number of faces for collision meshes or is it mostly better to use simple shapes? What is the most common way for collision objects in Gazebos simulations? What are "good" meshes? And how would it improve the simulation to improve all meshes (to let me say 50% of all faces as example) Is the number of faces of the visual mesh influencing the simulation-performance? Best regards Max

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answered 2018-07-25 17:11:15 -0500

updated 2018-07-25 17:11:57 -0500

Partial answer here. My impression is that the number of contacts, not mesh geometry, 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" >
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answered 2023-08-07 04:59:35 -0500

gsisinna gravatar image

Hi, I personally noticed a significant improvement by using cylindrical primitives to approximate the robot links. Be careful, in this case you will have to manually place the reference systems and decide the dimensions so that these collision meshes overlap perfectly or with a small margin with the visual meshes of your robot.

Primitives are one way, otherwise if you want to test it faster I would recommend using the convex hull method to approximate your meshes with simpler geometry and fewer faces.

See here: link text

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Last updated: Aug 07 '23