Vision Sensor causes slow steps, and different speeds in general about rlbench HOT 7 CLOSED

I just pushed something that will help with:

When I create a Vision sensor in the environment, even if I don't invoke capture_rgb(), the task steps become dramatically slower.

This should no longer be the case.

To get the fastest step time possible

• Only enable the cameras that you need using the ObservationConfig.
• Using the OPENGL renderer over the OPENGL3 rendrer will be much faster. The former uses shadows which does increase rendering time.
• If you must have shadows, then decreasing the number of lights will decrease rendering time.

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Thanks. Any ideas for the different timings for steps?

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Not sure what you mean; but on my desktop I get 0.07s per step with all observations enabled (rgb, depth, mask) for all 4 cameras (OPENGL3 renderer), using the joint velocity action mode.

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pyrep.py:209: UserWarning: Could no
t change simulation timestep. You may need to change it to "custom dt" using simulation
settings dialog.

Maybe related to this? Basically it’s calling simextstep ~20 times on some of the steps..

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Ah, that was it! Thanks! (Assuming you meant the gripper open/close, after I fixed the action it stopped.)

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I think perhaps the velocity should be changed when headless? I think that would make it faster for sims.
done = self._robot.gripper.actuate(ee_action, velocity=0.04 => 1)

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