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Kinovarobotics / Kinova-kortex2_Gen3_G3L

Code examples and API documentation for KINOVA® KORTEX™ robotic arms
https://www.kinovarobotics.com/
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Dual control using two KINOVA arms #180

Closed tanrb closed 1 week ago

tanrb commented 1 year ago

Summary

I am trying to connect to two kinova by connecting both ethernet cable from the kinova arms to an ethernet to usbc connector that is connected to a single port on my laptop.

I have created two session managers, tcp and router client on python. I have also created the parseConnectionArguments2 to be used for the second args. However, I am unsure of how to change the ip address of one of the kinova to be different from the default '192.168.1.10' to connect to both robots at the same time. Can I get some advice on how I should go about doing that? Thanks!!!

kyilmazKinova commented 1 year ago

Hi, You can find the procedure to change the robot wired connection IP address in the Gen3's User Guide, page 74 to 75. The User Guide can be found here (https://www.kinovarobotics.com/product/gen3-robots#Product__resources) on the Kinova Website.

Best regards

felixmaisonneuve commented 12 months ago

Hi @tanrb,

Did this solve your problem? Can we close this issue?

Best, Felix

tanrb commented 11 months ago

Hi @felixmaisonneuve

I am able to connect to both robots with different session managers, but I am just wondering how do I control both robots to move simultaneously rather than one after the other?

Cheers

kyilmazKinova commented 10 months ago

Hi, check out this issue https://github.com/Kinovarobotics/kortex/issues/45, @DjoleMNE provided a code example.

martinleroux commented 1 week ago

I am closing this issue since the answer was given above. Before I do so however, I will add that Kortex API does not provide API endpoints that route commands to multiple robots at the same time. In short, the only way to synchronize robots is to leverage the fact that most commands are non-blocking (or rather, block until the robot acknowledges them, not until it is done moving), or to use low-level control with async calls in C++.