How to add a new brand robot to the software

How to add a new brand robot to the software

  1. Add model
    (1) Import robot model in viz
    Example:
    When we add a Gragen robot:
    Step 1: Create a new folder under the Mech-Viz\resource\robot directory
    image
    The following documents are required
    ● dragen_irb70L: robot model, DAE, STL, dragen_irb70L.png are stored in the folder
    ● dragen.json: robot configuration file, generally requires the robot to support corresponding functions
    ● DAE: store robot model files containing color information
    ● STL: store robot model files in STL format
    ● dragen_irb70L.png: a display photo of the model in viz
    Step 2: Add the model parameters of the robot to the robot_params.json file (note that the robot model must be capitalized)
    image
    Re-open the MechViz software, you can choose this robot
  2. Add robot Euler angle type in Mech-Center
    (1) Obtain the Euler angle type of the robot
    It should be noted that if the Euler angle cannot be obtained directly from the robot side, the quaternion or joint angle can also be obtained (under the premise that the DH parameters are correct), and the type of Euler angle can be obtained by converting the quaternion and Euler angle
    (2) Find robot_euler_mapping.py in Mech-Center\src\interface, and input the robot brand to the corresponding Euler angle position (assuming the Euler angle of this robot is rzyx)


    (3) When using the standard interface to communicate, select this robot, Mech-Center will know the Euler angle of this robot, and can perform normal Euler angle sending and receiving

More detailed instructions can be found on the Docs: Create and Import the Robot Model.