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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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Where can find KUKA C2 KR16-2 model for Mimic #26

Closed andy3336 closed 2 years ago

andy3336 commented 3 years ago

sorry I think that KUKA KR-16 model is very commonly used type Have provide that?

evanatherton commented 3 years ago

Hi @andy3336, we have a few KR-16 variants that were rigged since the last release. You can find them here:

KR 16-arc HW KR 16-2 KR 16 R2010 KR 16 R2010-2 KR 16 R1610 KR 16 L6-2

If there's a specific variant you're looking for, just let us know!

andy3336 commented 3 years ago

thanks very much and at all

Evan Atherthon notifications@github.com 於 2021年1月26日 週二 上午3:48寫道：

Hi @andy3336 https://github.com/andy3336, we have a few KR-16 variants that were rigged since the last release. You can find them here:

KR 16-arc HW https://www.dropbox.com/s/qa91d8sr8v5hvo7/KR%2016-arc%20HW.ma?dl=0 KR 16-2 https://www.dropbox.com/s/i7hs80pcyn6hkf6/KR%2016-2.ma?dl=0 KR 16 R2010 https://www.dropbox.com/s/591ejrqzq147jps/KR%2016%20R2010.ma?dl=0 KR 16 R2010-2 https://www.dropbox.com/s/nyo2yesqxtjh7em/KR%2016%20R2010-2.ma?dl=0 KR 16 R1610 https://www.dropbox.com/s/rotkhjgo6vp67sk/KR%2016%20R1610.ma?dl=0 KR 16 L6-2 https://www.dropbox.com/s/xkqyq97dfcu7xv4/KR%2016%20L6-2.ma?dl=0

If there's a specific variant you're looking for, just let us know!

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/AutodeskRoboticsLab/Mimic/issues/26#issuecomment-767070146, or unsubscribe https://github.com/notifications/unsubscribe-auth/AKWCYKBBGSLDAANBDCJTWWDS3XDITANCNFSM4WMRYDCQ .

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andy3336 commented 3 years ago

Hello sir

Can mimic be published as Lin calculation method of position for KUKA

thanks

On Tue, Jan 26, 2021 at 10:25 AM andy andy3336@gmail.com wrote:

thanks very much and at all

Evan Atherthon notifications@github.com 於 2021年1月26日 週二 上午3:48寫道：

Hi @andy3336 https://github.com/andy3336, we have a few KR-16 variants that were rigged since the last release. You can find them here:

KR 16-arc HW https://www.dropbox.com/s/qa91d8sr8v5hvo7/KR%2016-arc%20HW.ma?dl=0 KR 16-2 https://www.dropbox.com/s/i7hs80pcyn6hkf6/KR%2016-2.ma?dl=0 KR 16 R2010 https://www.dropbox.com/s/591ejrqzq147jps/KR%2016%20R2010.ma?dl=0 KR 16 R2010-2 https://www.dropbox.com/s/nyo2yesqxtjh7em/KR%2016%20R2010-2.ma?dl=0 KR 16 R1610 https://www.dropbox.com/s/rotkhjgo6vp67sk/KR%2016%20R1610.ma?dl=0 KR 16 L6-2 https://www.dropbox.com/s/xkqyq97dfcu7xv4/KR%2016%20L6-2.ma?dl=0

If there's a specific variant you're looking for, just let us know!

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/AutodeskRoboticsLab/Mimic/issues/26#issuecomment-767070146, or unsubscribe https://github.com/notifications/unsubscribe-auth/AKWCYKBBGSLDAANBDCJTWWDS3XDITANCNFSM4WMRYDCQ .

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  • Andy Hung 洪仲儀* 0981240265

-- Andy

evanatherton commented 3 years ago

@andy3336 We’ve already exposed the framework for how to do it in the ABB Rapid post, so the biggest thing to do is to re-implement the transformation to match how KUKA represents their poses instead of how ABB does it. It’s been a while since I’ve looked at that, but I think the biggest challenge was taking a frame in Maya and matching KUKA’s rotation order.

We actually have a method in mimic_program.py that gets the transformation matrix of the tool from Maya. So we actually do have it in vector form. The trick is converting it to KUKA’s X Y Z A B C format, which we haven’t done yet. We’ve only done that work for ABB, and ABB’s use quaternions which KUKA doesn’t.

So to start, looks at the _sample_frame_get_pose method in mimic > scripts > mimic_program.py. You’ll need to figure out the rotation matrix from Maya’s coordinate system to KUKA’s tool frame. It looks like we’ve already done that, we just commented it out since we didn’t validate it.

Then find the matrix to euler math

andy3336 commented 3 years ago

Thank you for your reply,it’s very much appreciated

On Tue, Feb 23, 2021 at 3:50 AM Evan Atherthon notifications@github.com wrote:

@andy3336 https://github.com/andy3336 We’ve already exposed the framework for how to do it in the ABB Rapid post, so the biggest thing to do is to re-implement the transformation to match how KUKA represents their poses instead of how ABB does it. It’s been a while since I’ve looked at that, but I think the biggest challenge was taking a frame in Maya and matching KUKA’s rotation order.

We actually have a method in mimic_program.py that gets the transformation matrix of the tool from Maya. So we actually do have it in vector form. The trick is converting it to KUKA’s X Y Z A B C format, which we haven’t done yet. We’ve only done that work for ABB, and ABB’s use quaternions which KUKA doesn’t.

So to start, looks at the _sample_frame_get_pose method in mimic > scripts > mimic_program.py. You’ll need to figure out the rotation matrix from Maya’s coordinate system to KUKA’s tool frame. It looks like we’ve already done that, we just commented it out since we didn’t validate it.

Then find the matrix to euler math

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/AutodeskRoboticsLab/Mimic/issues/26#issuecomment-783629928, or unsubscribe https://github.com/notifications/unsubscribe-auth/AKWCYKHIL4Z4LA6DYRFREXTTAKYQFANCNFSM4WMRYDCQ .

-- Andy

ArshamSol commented 3 years ago

Could you please upload KUKA KR 210 rigged models as well?

evanatherton commented 3 years ago

@javad329 Here's what I have:

KR 210-2 KR 210 R3300 Ultra K-F KR 210 R3100 KR 210 R2700-2 KR 210 R2700 prime

If there's a specific variant that you need that's not linked above, let me know the exact one and I can add it for you

ArshamSol commented 3 years ago

Thanks a lot. I will ask you if I need a specific one.

d4nielbaez commented 3 years ago

Could you please upload KUKA KR 120 R3500 press C rigged models as well?

andy3336 commented 2 years ago

Dear Evanatherton Could you please upload KUKA KR 210-2K models as well?

evanatherton commented 2 years ago

Hey @andy3336, here's the KUKA KR 210-2 K

andy3336 commented 2 years ago

Dear Evanatherton I appreciate that you spent your time for this, I'm deeply moved.

evanatherton commented 2 years ago

No trouble at all - sorry it took me so long!

On Sat, Nov 6, 2021 at 6:52 PM andy3336 @.***> wrote:

Dear Evanatherton I appreciate that you spent your time for this, I'm deeply moved.

— You are receiving this because you modified the open/close state. Reply to this email directly, view it on GitHub https://github.com/AutodeskRoboticsLab/Mimic/issues/26#issuecomment-962538199, or unsubscribe https://github.com/notifications/unsubscribe-auth/AI32VKZ33BNN5EOOCQVTXSTUKXLUDANCNFSM4WMRYDCQ . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.