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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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myCobot Pi- Raspberry Pi Powered 6 DOF robot arm #39

Open jeylites opened 2 years ago

jeylites commented 2 years ago

Hello,

I'm new to this project and would like to experiment with MyCobot Pi arm before sinking money on a used Kuka or ABB. How can I get this to work?

aatb-ch commented 2 years ago

It shouldn't be too hard to get a rigged model of the MyCobot in Mimic, so would be easy to play with it in Maya, but you'll have lot of work to do to playback any animation on the real robot.

Mimic won't be able as-is to export any useable code that can run on the robot, the "simplest" would be to write a post-processor for non-time-based trajectories (just exporting the different poses of each keyframes), so simply exporting keyframes as robot motion instructions (similar to LIN/PTP on Kuka or MoveL/MoveJ on ABB/UR), you wont have proper spline trajectories and it wont match your timeline but you can at least play a bit around.

For proper spline trajectories you'd have to export the time-based trajectories of Mimic and either the MyCobot has some instruction to servo the joints to specific values, in which case you could export a MyCobot program with the entire trajectory, otherwise you'd have to stream the trajectory over the realtime interface of the robot at fixed interval (say, stream at 25Hz the exported poses of Mimic from a CSV file)

jeylites commented 2 years ago

Mimic won't be able as-is to export any useable code that can run on the robot, the "simplest" would be to write a post-processor for non-time-based trajectories (just exporting the different poses of each keyframes), so simply exporting keyframes as robot motion instructions (similar to LIN/PTP on Kuka or MoveL/MoveJ on ABB/UR), you wont have proper spline trajectories and it wont match your timeline but you can at least play a bit around.

The part where we are unable to export useable code is for MyCobot or all robots in general including Kuka and ABB as listed on the compatibility list?

What robots do you suggest that are able to work with playbacks and time-based trajectories?

aatb-ch commented 2 years ago

It's only for MyCobot: for Mimic to be able to export code that can run on the real robot, it must be in the proper syntax of the native robot controller (KRL for Kuka, RAPID for ABB, URscript for Universal Robots for example), so Mimic has different post-processors to export the Maya trajectories into robot-specific code. You can check by setting different post-processors and checking the file exported.

To be able to run it on the MyCobot you'd have to write a post-processor to translate the generic motion instructions into MyCobot-specific instructions.

We are supposed to get a MyCobot for educational purpose in the coming weeks, I'll check if we might spend the energy to write a post-processor for it if, might be useful if some others might use it.

jeylites commented 2 years ago

We are supposed to get a MyCobot for educational purpose in the coming weeks, I'll check if we might spend the energy to write a post-processor for it if, might be useful if some others might use it.

This would be lovely! Please do keep me in the loop.