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AutodeskRoboticsLab / Mimic

An open-source Maya plugin for controlling Industrial Robots. Written in Python 3.
https://www.mimicformaya.com/
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add method to get IK/FK state of Mimic UI #2

Closed bootsch closed 5 years ago

bootsch commented 5 years ago

The method returns wether the Mimic animation tab is in IK or FK mode. If there is no Mimic window it return None.

bootsch commented 5 years ago

Reason for me to add it was in dev of so called live robot reader. Using kukaproxy var I read eather the axis or position and set accordingly in FK or IK. I didn't find any other way to determine the state in Mimic.

hsouders commented 5 years ago

A somewhat related comment... but I'd recommend only grabbing axis values out of Maya instead of cartesian postions. If you set an E6POS on your kuka, you will need Status and Turn variables to ensure the joint positions on the robot match the Maya position, and I don't believe those are currently implemented in Mimic. You're better off sticking to axis values and matching poses with E6AXIS values.

evanatherton commented 5 years ago

That's true, we've only implemented poses for ABB. There's a transform we have to do to get from Maya coordinate space to KUKA coordinate space, then map status and turn to configs in Maya, which we haven't had a chance to do yet

bootsch commented 5 years ago

@hsouders Thanks for the heads up 👍 The intention is indeed to add code to drive the bot. @evanatherton Thanks for adding the code.