I am trying to simulate peg-in-hole manipulation task and have some problems with mesh models.
I've created a cylinder with a hole by setting negative volume that is supported by Vortex. But it did not robustly respond to a peg which was a primitive cylinder model, especially when peg pushes the top (cap) of the cylinder a little away from the central axis.
So I had to convert primitive models to meshes and got better results with more meshes.
However, the following message always show up.
Code: Select all
VxWarning{0}: VxTriangleMeshData::buildHalfEdges: there were 128 orphan edges. Internal orphan edges may cause invalid collision response.
VxInfo{12}: VindsStep: Using threaded version.
- Additionally, I saw that a scene with more meshes takes longer time to start simulation; VxWarning{0} message appears after initialization and first execution of sim_childscriptcall_actuation, and after ~3 sec VxInfo{12} shows up, then sim_childscriptcall_sensing is called. Is there any way to accelerate this process other than using less meshes?