CoppeliaSim speedup by about 20%

abr / abr_control

Robotic arm control in Python

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CoppeliaSim speedup by about 20% #72

Closed studywolf closed 4 years ago

studywolf commented 4 years ago

Changed the set commands (SetJointVelocity, SetObjectPosition, etc) to use simx_opmode_streaming instead of blocking
added opmode_streaming boolean parameter to CoppeliaSim interface to allow user to use blocking mode if they want, but default is now streaming
Tested by running position_control_osc example in both modes and comparing the end-effector trajectory with np.allclose

p3jawors commented 4 years ago

LGTM, just fixed the plotting for one example so it uses the hand position for the target tracking of dof we're not controlling. This makes the 3d plot of trajectory and target align better, otherwise it looks like it's really off because of the non-controlled dof.