Search found 8 matches

by benjamin
30 May 2017, 16:26
Forum: Feature requests
Topic: Share Memory
Replies: 11
Views: 1942

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: 1942

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: 1942

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: 1942

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
26 Oct 2015, 17:53
Forum: General questions
Topic: Get joint external torque
Replies: 1
Views: 367

Get joint external torque

Hello everyone,

for an application, I need to get the external torque (the torque resulting from external forces) as with the real Kuka LWR4. How is this achievable? I tried to add force sensors in the chain but apparently they can't be used just before of after a joint.

Thanks

Benjamin
by benjamin
13 Feb 2015, 13:47
Forum: General questions
Topic: How to make my Shadow Hand not exploding?
Replies: 3
Views: 525

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...
by benjamin
13 Feb 2015, 10:08
Forum: General questions
Topic: How to make my Shadow Hand not exploding?
Replies: 3
Views: 525

Re: How to make my Shadow Hand not exploding?

Thanks for your answer, I'll try to find real masses and moments of inertia of this hand and set them in the model to see what happens.

I'll keep you posted
by benjamin
12 Feb 2015, 12:14
Forum: General questions
Topic: How to make my Shadow Hand not exploding?
Replies: 3
Views: 525

How to make my Shadow Hand not exploding?

Hello everyone, I need to use the Shadow Robotics Hand (the one with biotacs) in V-REP so I converted the xacro model available in ROS to a URDF one, made some modifications in the file (file paths starting with package:// with absolute path) and then used the URDF import plugin in V-REP. I have now...