Search found 12 matches

by benjamin
04 Jul 2022, 13:05
Forum: General questions
Topic: Why is an empty simulation so slow with smaller time steps?
Replies: 7
Views: 4402

Re: Why is an empty simulation so slow with smaller time steps?

Since all of this isn't just for me, but many people in my lab, I'd rather have a solution that doesn't require any modification to CoppeliaSim, including compiling and installing a plugin for all the platforms they will want to run the simulator on. In this regard the remote API is great because I ...
by benjamin
01 Jul 2022, 16:48
Forum: General questions
Topic: Why is an empty simulation so slow with smaller time steps?
Replies: 7
Views: 4402

Re: Why is an empty simulation so slow with smaller time steps?

Thanks I didn't know that. I guess it could work but it requires to have a customized scene with a customized communication API to do the equivalent of the remote API. It would be best if I can avoid all that since many people in my lab will end up using my CoppeliaSim interface for their various si...
by benjamin
01 Jul 2022, 14:19
Forum: General questions
Topic: Why is an empty simulation so slow with smaller time steps?
Replies: 7
Views: 4402

Re: Why is an empty simulation so slow with smaller time steps?

I think I understand how it works but still, I have to disagree with you about running the simulation loop at 1ms being nonsensical. Let's say I have a real Franka Panda robot and I want to test things in simulation first. The real robot will send its current state (position, velocity, torques, etc)...
by benjamin
27 Jun 2022, 11:39
Forum: General questions
Topic: Why is an empty simulation so slow with smaller time steps?
Replies: 7
Views: 4402

Re: Why is an empty simulation so slow with smaller time steps?

Out of curiosity, I ran perf/hotspot on CoppeliaSim with the configuration I described in the previous post and got: https://i.ibb.co/p0y1vpN/coppeliasim-sim-loop-perf.png This is the part related to the simulation thread loop. If I understand things correctly, the highlighted part (simAdvanceSimula...
by benjamin
27 Jun 2022, 09:56
Forum: General questions
Topic: Why is an empty simulation so slow with smaller time steps?
Replies: 7
Views: 4402

Why is an empty simulation so slow with smaller time steps?

I've been using V-REP/CoppeliaSim for years now and I always found the simulation to run to slow. I though it was because of the scene to simulate or the communication through the remote API but I just made a very simple test and I can't understand the result. With the default empty scene, a time st...
by benjamin
30 May 2017, 16:26
Forum: Feature requests
Topic: Share Memory
Replies: 11
Views: 70239

Re: Share Memory

I finished the testing on Linux and Windows. Can you give it a try internally to check if it's ok with your test environments? I made a benchmark app with an associated scene to assess the benefits from using shared memory (available in the repo ), and the results are a bit surprising. On Linux, the...
by benjamin
20 May 2017, 07:41
Forum: Feature requests
Topic: Share Memory
Replies: 11
Views: 70239

Re: Share Memory

I have good news, I made the remote API works with POSIX platforms. I still need to do more tests (check with macOS and Windows) but on my Linux machine it is working. I have a scenario where I get a lot of data from the server (~1800bytes) and I could increase my real time factor in synchronous mod...
by benjamin
19 May 2017, 09:27
Forum: Feature requests
Topic: Share Memory
Replies: 11
Views: 70239

Re: Share Memory

After some more digging in the source code I realized that the implementation has been done for Windows only and I'm running linux. I'll see if I can make it work for unix systems.
by benjamin
18 May 2017, 17:19
Forum: Feature requests
Topic: Share Memory
Replies: 11
Views: 70239

Re: Share Memory

I know I dig up the subject but I think it is more appropriated than creating a new one. After noticing big slow downs when exchanging a lot of data using the remote API I started to wonder if it would be possible to have some shared memory instead to speed up the transfers. I started looking into t...
by benjamin
13 Feb 2015, 13:47
Forum: General questions
Topic: How to make my Shadow Hand not exploding?
Replies: 3
Views: 3470

Re: How to make my Shadow Hand not exploding?

Following your advice, I modified the inertia matrices and I have also modified the respondable masks to avoid conflicts between two consecutive and overlaping shapes and now I have a hand that's working quite well. I'll try to get in touch with Shadow Robotics to get the joint masses and inertia ma...