Framerate / setTimeStep - related Question
Posted: Sun Mar 21, 2021 7:39 pm
Hello,
I'm using pybullet for a robotics simulation and as it seems I didn't understood the frame concept from pybullet.
So far, im using p.GPU
With
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
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
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
I'm using pybullet for a robotics simulation and as it seems I didn't understood the frame concept from pybullet.
So far, im using p.GPU
With
Code: Select all
setRealTimeSimulation(0)
setTimeStep(1/240)
With
Code: Select all
setRealTimeSimulation(1)
setTimeStep(1/240)
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: Select all
setRealTimeSimulation(0)
setTimeStep(1/240)
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