Regarding Gazebo RTF becoming low after increasing joints in the simulation

asked 2021-07-07 23:20:06 -0500

Saail gravatar image

I am working on a simulator environment in Gazebo 9.0.0 which have multiple joints in the sdf world. This causes RTF to drop down a huge number. I observed reducing the joints improves RTF I tried tweaking gazebo physics parameter: step size, update rate and iters to improve RTF but this causes instability in the simulation world, All the models starts vibrating a lot and also behaves weird in different pc. How can i improve the RTF without instability, Is there a limitation that Gazebo sim highly depends on joint numbers?

edit retag flag offensive close merge delete