Why self_collide increase simulation time over multiple runs?

asked 2021-05-28 08:18:59 -0600

lojik17 gravatar image

updated 2021-05-31 03:37:06 -0600

Hello everyone,

I am working on a robotic griper and I would like to enable self_collide parameter on each parts of the gripper to increase simulation reality. I am working with gazebo 11.5.0 on Ubuntu 20.04 without ROS. Since I am working on reliability of the gripper I run multiple simulations one after they other using the following trick :

  1. Import gripper with SDF
  2. Test it during n seconds
  3. After n seconds, delete the gripper then go to step 1.

I do that until I reach a certain amount of run. My problem is that when I enable "self_collide" parameter, the amount of time to complete one simulation of n seconds is increasing. For the first one it took around 30s and at round 50, it took around 450s.

Do someone know where does it could come from? The only thing I change between my tests is the self_collide option.

Thank you in advance and best regards, lojik

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