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oro_barrett_sim: hand: Speed up simulation #5

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jbohren opened this issue Oct 9, 2014 · 1 comment
Open

oro_barrett_sim: hand: Speed up simulation #5

jbohren opened this issue Oct 9, 2014 · 1 comment

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@jbohren
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jbohren commented Oct 9, 2014

Currently moving the hand in freespace drops simulation speed to 0.7 realtime. This is in part due to the apparent cost of calling Joint::getForceTorque. Instead, possibly use feed-forward torques for torque sensing. This should be a lot faster, and just as good.
@jbohren
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jbohren commented Oct 21, 2014

Additionally, replace the bhand with a "fake" bhand which just attaches objects to the end of the arm based on some criteria.

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