Real-Time Physics Simulation Forum 2021-03-25T15:32:41+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/13179 2021-03-25T15:32:41+00:00 2021-03-25T15:32:41+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43367#p43367 <![CDATA[Re: Framerate / setTimeStep - related Question]]> Statistics: Posted by robin_rob96 — Thu Mar 25, 2021 3:32 pm

]]> 2021-03-21T19:39:43+00:00 2021-03-21T19:39:43+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43360#p43360 <![CDATA[Framerate / setTimeStep - related Question]]>
I'm using pybullet for a robotics simulation and as it seems I didn't understood the frame concept from pybullet. :cry:
So far, im using p.GPU

With

Code: 

setRealTimeSimulation(0)setTimeStep(1/240)
Pybullet is calculating 240 times (stepping 240 times in my loop) per second of simulation. Depending on the hardware, this simulated second could be more or less in real time.
With

Code: 

setRealTimeSimulation(1)setTimeStep(1/240)
the timStep is ignored, the real time is now synced with sim time and I get as much calculations per second as my hardware can handle.

Thats what I thought it would work like.

When I disable the rendering mode with p.DIRECT, It seems like I get ~ 4 times more calculation steps for the same task with

Code: 

setRealTimeSimulation(0)setTimeStep(1/240)
How is this possible? I thought the simulation would be done quicker, because I don't render a GUI but the result should be the same? What am I missing? Thx alot!

P.S. Background:
I want to generate gripping data like TCP forces etc. Therefore, I need to know the stepRate, so I can, lets say, output forces every 10th step

Statistics: Posted by robin_rob96 — Sun Mar 21, 2021 7:39 pm

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