How to import robot models from other brands?
If the robot brand you want to import is not available in the Robot Model Library, please complete the following steps:
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Import the Robot Model File
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Modify the Related Configuration Files
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Set Euler angle convention. Open Mech-Viz, right-click the robot model in the resource tree, open the robot file directory, and navigate to the Mmind/Robot Library 2.0 folder.
Open the robot_euler_angles_convention.json file in Notepad, and add a field for the robot brand along with its Euler angle convention, referring to the existing information. For example: XYZ_S_A,B,C, where XYZ_S indicates the Euler angle convention, and the suffix _A,B,C represents the labels of axes 4 to 6 on the robot teach pendant (the suffixes can be omitted if uncertain). Save and close the file.
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Enable the standard interface calibration option. In the same directory, open the default_robot_communication_settings.json file in Notepad, and add a field for the robot brand along with its standard interface information by referring to the existing information. Save and close the file.
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Set the Euler angle convention for standard interface communication. Navigate to the Communication Component/src/interface folder in the software installation directory, open the robot_euler_mapping.py file in Notepad, and add the robot brand to the corresponding Euler angle category. Use “/” to separate it from other robot brands. Save and close the file.
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Confirm Euler Angle Convention
If you are unsure about the correct Euler angle convention for the robot brand, you can contact the robot manufacturer’s Technical Support or use the “Get Euler angle convention” tool in Mech-Vision to calculate it. The specific steps are as follows:
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Open Mech-Vision, and click the Camera Calibration button in the toolbar.
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In the pre-calibration configuration window, select “Hand-eye calibration for custom robot”, and then click the “Get Euler angle convention” link.
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Follow the tool instructions to record and input three robot flange poses, and then click Calculate Euler angle convention to obtain the result.
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After completing the above steps, the robot of this brand can be used in both Mech-Vision and Mech-Viz. For unknown issues, please contact Mech-Mind Technical Support.