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Q&A

1. Why can not my GelSight Mini get 24 FPS?

We recommend using a high-performance CPU (e.g., Core i9-13900K) and enabling explicit CPU core binding to ensure 24 FPS for GelSight Mini. That is because GelSight Mini has a high resolution which requires high CPU resources and the OS scheduler may cause delays when launching multiple processes simultaneously. Therefore, if you are using GelSight Mini, we recommend executing the following steps to perform CPU core binding.

  1. Add config into /etc/security/limits.conf to ensure the user has the permission to set realtime priority. 
    username - rtprio 99
  2. Edit /etc/default/grub and add isolcpus=xxx to the GRUB_CMDLINE_LINUX_DEFAULT line for isolating certain CPU cores.
  3. Modify the task configuration file and the beginning several lines of all entry-point Python files (e.g. teleop.py) to adjust the corresponding core binding.