(near) real time robot control

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Comment by Stephen Bontly on October 2, 2014 at 12:27pm

It there any possibility to see your code for GH?

Comment by Zachary Schoch on August 15, 2011 at 1:41pm

the movement of the robot is being simulated, which is a bit complex (many operations) and most of it is done the easy but slow way with geometric projections etc. Much of that will speed up as the rig is optimized and refined (already in progress). some of the lag is coming from the 'send' operation. don't know if its the transfer time, or the time it takes for the send operation to complete, but i have a feeling its not the transfer time. one big and easy to work around area is the 'preview' of the robot geometry. I leave some of that on simply to see what my tool clearances are etc because i can not accurately judge how close things are from my desk. disabling all of the robot previews does speed it up a bit. It is using nurbs (brep) but making it mesh may be faster. (from looking at the lobster stuff, he is using mesh , not sure if it matters). All that said i did not mention it as a complaint because i am very happy with the performance. I will need to get it faster when i run multiple robots though as that seems to make a big difference. for this lab and the other tools i have already developed, making the example above with more (2,3,4 or 5 total) robots is not a technical challenge. I have already run multiple ones from processing the same way this one is run. and have other robots in the lab already set up in GH. Im planning on looking into firefly now to streamline my "play" operations. but i am not sure exactly were i will go with that, considering it is easy enough to just do it in processing (sending all the points from GH instead of just the current one)

Comment by Luis Fraguada on August 14, 2011 at 1:56pm

thanks for sharing.  what kind of operations are slowing things down in gh?