NVIDIA Holoscan 5 tutorial builds gravity compensation for robot arm

This tutorial demonstrates how to build a gravity-compensation loop for a robot arm using NVIDIA Holoscan 5 and the Pinocchio inverse-dynamics solver. By combining custom Holoscan operators into an optimized execution graph, developers can achieve low-latency torque control that allows a robot arm to feel weightless when guided by hand. The walkthrough details implementation steps in Python and C++, evaluating real-world latency distributions across pinned and unpinned system configurations. Open article →