Hi there,
I'm developing a project that learns to grab things with a RG2 gripper. By speeding the training process, I would like to raise the motorVelocity (In its child script), but here comes the problem.
When motorVelocity gets larger (like 1 m/s), the left and right touches start to close and open with different speeds, which is inappropriate because this affects the grasping result.
Is there any way I can do to solve it?
P.S. Is headless mode speeding the simulation process? Or just closing GUI ?
Regards,
Allen
RG2 closing inappropriately
Re: RG2 closing inappropriately
Hello,
1 m/s is very fast for a linear actuator in your gripper. I wouldn't go higher than that anyways.
To speed-up the training process, you can adjust/modify several otheer parameters:
1 m/s is very fast for a linear actuator in your gripper. I wouldn't go higher than that anyways.
To speed-up the training process, you can adjust/modify several otheer parameters:
- run in headless mode
- or disable visualization temporarily (you have a toolbar button for that)
- switch to a different physics engine and/or to a different calculation mode (e.g. from accurate to fast)
- reduce the number of calculations wherever possible (e.g. you can explicitely handle vision sensors or proximity sensors, and have them compute a new value only every nth simulation step, instead of every simulation step.
- etc.