Hello, I am testing multibody object simulation.
I loaded 25 number of 18-DOF robots (13 links) from URDF and put them on the air with no gravity and stepSimulation freezes.
Do you have any suggestion for fixing the problem?
stepSimulation freezes for large number of multi body objects.
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Re: stepSimulation freezes for large number of multi body objects.
Does it freeze and never recover? Or does it just take a very long time to execute the stepSimulation()?
I don't have any experience with multi-body, but there is a way to get detailed timing stats for the stepSimulation() like so:
The CProfileManager will take detailed measurements of the various contexts within the step and dumpAll() will print them out in a verbose but readable way. By examining the stats you should be able to identify where the CPU cycles are being spent.
I don't have any experience with multi-body, but there is a way to get detailed timing stats for the stepSimulation() like so:
Code: Select all
if (dumpStatsConditionIsTrue) {
CProfileManager::reset();
}
world->stepSimulation(timeStep);
if (dumpStatsConditionIsTrue) {
// don't print stats every frame, else you'll be flooded with output
CProfileManager::dumpAll();
}
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Re: stepSimulation freezes for large number of multi body objects.
Is this C++ or PyBullet? You should be able to profile timings and gradually increase the number of robots.
We are not clearvoyant: try to file an issue in the tracker and provide a simple reproduction case.
https://github.com/bulletphysics/bullet3/issues
We are not clearvoyant: try to file an issue in the tracker and provide a simple reproduction case.
https://github.com/bulletphysics/bullet3/issues