Hi Vicente,

I've download the newest version (8th/0.1.0) from the wiki download page
and I've noticed that the base for the DKP400 maves to rhino origin during simulation.
I'm using the bartlett xml+3dm (with modifications to match my setup)
screenshot of problem:

Have I mis-configured something? or is this a bug?

----sidenote----
I've noticed the load tool component, how do I use it? I'm assuming I have to create a new layer with my tool mesh model and add something to the xml?

Hi Vicente,

one of my students is encountering an issue when trying to load a new robot system (she is using the CITA UR5e), the component returns the following error:

1. Solution exception:'.', hexidezimaler Wert 0x00, ist ein ungültiges Zeichen. Zeile 1, Position 1.
   Any idea what might be causing it?
   Thanks,
   Andrea

Hi @visose ,

Thank you for creating such a wonderful package! I am wondering if it's possible to document a bit more on creating one's own robotcell (xml + rhino file)?

From my observation (snapshot below on the Bartlett robotcell), it seems like the xml and the geometry data in the rhino file is linked by layer's name, e.g. the layer in rhino should be RobotArm.<manufacturer>.<robot model> and the xml file and rhino file are linked by the same file name, right?

Apart from this, I am confused in the following three parts:

(1) In the xml file, for each joint we have <Revolute number="1" a ="25" d ="400" minrange = "-170" maxrange ="170" maxspeed ="360"/>. What do a and d's value mean?

(2) Which parameter in the xml file specify the current robot's joint pose in the rhino file? (like the robot pose in the picture above, it is definitely not the all-zero configuration)

(3) If I want to configure a 6-axis robot on a linear track, how should I do this? Should I create a new robotcell entry in the xml file to specify a 6+1=7 axis robot, or should I just treat the linear track as the second robot system, and input it, together with the 6-axis robot, in an ordered list to the create program component?

Finally, if I'd love to use this package in an academic project, what would be the preferrable way to cite this package?

Thank you so much,
Yijiang

Hi,

I am no more using your plugin (excellent by the way :)).

However, I am using one of your method to convert GH planes to XYZABC coordinates :

I've just fall into an extreme case where the level of UnitTol needs to be at least 1e-7 though it defaults to 1e-6 in your plugin. This causes my calibration to deviates 0.04° from what it should be. The B component was truncated to -90.00° though the true value has to be -89.96°.

Just want to let you know that maybe you should reconsider the value of UnitTol ...

Hello,
I'm again on the old kuka 150. When I load the files to kuka one .dat and two .src files it generates errors:
on the .dat file - 2324 - dual decleration and one name not declared 2135
on the .src files it says linking errors, Syntax error in module

When I'm working with kukaprc it generates me just one file. Maybe this happens because of that linking problem. Is it possible to combine these files into one file or are there other solutions?

Thanks,
MS

While using custom commands the program/ code generator loses the sequence.

Dear visose

I'm trying to get some tcp locations from an UR5, connected through TCP, returned in the log of the RemoteUR component to use for a realtime feedback loop in grasshopper. Even though sending the get_actual_tcp_pose() and printing in the log on the UR itself works fine, there is no data being fed back to grasshopper. Has a feature been implemented that I'm overlooking to get this to work? If not, do you have any suggestions by any chance on how to get this to work in gh?

Kind Regards
Jonas

Hello, in my extrusion script, sometimes the robot does a flip of TCP. The path goes from one point with the same orientation, to the same one, ony the xy position is different, and he just decides to do a flip of the tool. Dont understand why. Also tried to restrain the movement range, it does not produce different solution, only "axes out of bounds" . Hilarious. Video here: https://youtu.be/mLg5ein-59o
Any idea how to fix it?
Joint or linear, still flippin.
Tried different config, but that is pointless.
//edit: I have no idea.

//Needs some change to IK solver?

Hello,

I would like to ask for help with Staubli XT60, to add to the library. I modified the bartlett library and add the robot to xml, and 3d model, but can not fix to not falling apart, even if using the DH parameters.
May I ask you for add the robot correctly?
Here are the necessary files (3d model, xml, DH parameters): https://www.dropbox.com/sh/9ziq0qys1qapfl9/AAC4jETHgbto-r9fl0a2YIYma?dl=0
Thank you very mutch!

Hi there, we noticed a bug in the generation of joint targets for ABB robots.
Example:
Input panel with 6 axis values in degrees (5,5,5,5,5,5)
Transform to radians and concatenate in a string separated by commas
create joint target
the rapid code generated is (5,85,-5,5,-5,5)

We have tried with several x values for axis 2 and y value for axis 3 and z for axis 5, the rapid code returned is always 90-x for axis 2 and -y for axis 3 and -z for axis 5

robotsBug.zip

Hi Vicente,

it seems that the robot runs slower when sending a program than it could possible run when it is programmed with the teach panel.

Technical they should run at 1.000mm/s
In the teach panel it even says up to 5.000mm/s

How can I run the robots through Robots at maximum speed?

Thank you for the Robots plugin.
I am very new to this plugin.

I would like to know about a few warning messages in Create Program component.

In the current simulation I have only 3 planes, and I get these warning messages:
Configuration changed to "None" on target 1 of robot 0
Configuration changed to "Wrist" on target 2 of robot 0

What do they mean and I what should I do to make this component run without warnings?

Hello, will ABB IRB 6700 150 / 3.2 be available with this plugin?

Hi @visose
can you update the version on YAK? it would be a lot more convenient if the YAK version is up to date
thanks.

Hi there,

Since we have quite a few modules that are constantly loaded into our ABB robot PROC Main() command always complains and I need to get into it and manually change Main to something like MyCustomMain() .
I was wondering if it's possible to do that in Grasshopper somewhere between Create Program and Save Program components.
TL;DR - is it possible to "unpack" the program, change it and then "package" it for the SaveProgram component?

Is it possible to simulation robot position by iterating over plane by plane?

When I am using Program Simulation component with normalized values from 0 to 1. It is very hard check the target position. Ideally I would like to have a slider from 0.00 to n where n is the number of planes and each integer 1.00 or 2.00 would give a robot pose at the given plane.

Hello,
I'm using Rhino 5 and the last Grasshopper on it. The last version I could use is the 5th is it possible to port your last versions also to rhino 5?

I really love by the way your plugin. I use it with a abb 1600-145 and it works pretty good of course with the right settings. I'm sure you will add in the future more features keep going :)
Best

I am trying to get it to run on rhino 6. But I cant open any of the example files, I always get an error that it couldnt read the file. When I place the "Load robot system" component it also gives an error: 1. Solution exception:'>' is an unexpected token. The expected token is '='. Line 44, position 92.

Im guessing this refers to line 44 of Util.cs?
I followed all the other steps of the installation (installing .NET and loading the 3dm and .xml into Documents/Robots)
I also cant open the Bartlett.3dm file in rhino is this normal? it says that it is not a .3dm file.
Anything else I could check ?
Thanks in advance.

Hello Vicente,

I was trying the robots plugin for some pick & place scripts. But every time I lose a mesh when I run the script. This varies between robot meshes and gripper meshes.

Example for the gripper, in its closed state, its mesh is correct but in its open state, the mesh is invalid.
For the robotic arm I use the Bartlett-UR10, and going through the script, the meshes of the arm axis get lost alternately.

This is due to what?

Hi,

I would like to ask if there are any manuals for this scenario:

a) user buys 2nd hand abb robot and gets delivered to his/her workspace
b) user installs Robots plugin on rhino grasshopper

Since a company that installs robots does not know anything about Robots plugin nor Rhino how a user can establish a physical link between robot and rhino? Is there any proper manuals?

Hi,

I have an issue, when trying to create a valid tool-path, I need to rotate manually planes 90 degrees until I reach a good rotation that is reachable. I would like to automate this process, because manually guessing is very slow.

Is there any ready-made examples for C Sharp I could use to mimic similar workflow to this?

If yes where can I get ABB library?

Hello!

I'm trying to use ROBOTS with our UR-5 in Leibniz University in Hannover.
When I drag and drop Load Robot and plug a value list on it the component becomes red and I receive this error on the balloon:

1. Solution exception:'>' is an unexpected token. The expected token is '='. Line 45, position 94.

Even if I open simple example.gh, the same thing happens. I've copied all libraries to C:\Users\Victor Sardenberg\Documents\Robots\

Any ideas?

Thanks,

Victor Sardenberg

Hello visose,

I was facing somme small (but not negligible) accuracy problems today. It seems to me that the Degree to Radian component does its conversion with not enough accuracy has it rounds the results to only 2 digits.

I would suggest to increase the rounding to 6/8 digits x => $"{x:0.00000000}") :

protected override void SolveInstance(IGH_DataAccess DA)
        {
            var degrees = new List<double>();
            GH_RobotSystem robotSystem = null;
            int group = 0;

            if (!DA.GetDataList(0, degrees)) { return; }
            if (!DA.GetData(1, ref robotSystem)) { return; }
            if (!DA.GetData(2, ref group)) { return; }

            var radians = degrees.Select((x, i) => (robotSystem.Value).DegreeToRadian(x, i, group));
            string radiansText = string.Join(",", radians.Select(x => $"{x:0.00000000}"));

            DA.SetData(0, radiansText);
        }

In my case, it solves the problem.
Lionel

Hi Vicente,

Just wondering if it'd be convient for you to add in C_VEL aproximation?
The way I'm doing it now is generate the SRC, then in notepad replace APO.CDIS and C_DIS with APO.CVEL and C_VEL, then change the zone value for APO.CVEL, but when I want to use both C_DIS and C_VEL, it become very complicated to filter out the different tool paths.

ref (p.13): http://www.wtech.com.tw/public/download/manual/kuka/krc4/KUKA%20KRL-Syntax%208.x.pdf

thanks.

Hi guys

i'm trying to use robot to control an old uR10 cb1.8 but i have a problem with the code, UR controller say me "infinite loop detected". i have solve this problem manually, i have change the definition bringing the code (C) output and replace text >inserti item >and stream content from panel. i have added a line at the end of the code that close the program (line 18).
i can share the definition but is better to solve from "create program" component

here a sample of my code streamed from panel:

0. def Program():
1. weaverTcp = p[-0.22000, 0.00000, 0.56150, 2.2214, 2.2214, 0.0000]
2. weaverWeight = 0.200
3. weaverCog = [-0.22000, 0.00000, 0.56150]
4. Speed000 = 0.02000
5. Zone000 = 0.00300
6. set_tcp(weaverTcp)
   set_payload(weaverWeight, weaverCog)
7. movej([1.6021, -1.3203, 1.7483, -1.9987, -1.5708, 2.6493], a=3.1416, v= 0.314, r=Zone000)
8. movel(p[-0.37700, -0.51756, -0.43400, 0.0000, 0.0000, -1.0472],a=1.00000,v=Speed000,r=Zone000)
9. movel(p[-0.37700, -0.51756, -0.47800, 0.0000, 0.0000, -1.0472],a=1.00000,v=Speed000,r=Zone000)
10. movel(p[-0.37700, -1.26756, -0.43400, 0.0000, 0.0000, -1.0472],a=1.00000,v=Speed000,r=Zone000)
11. movel(p[-0.37700, -1.26756, -0.47800, 0.0000, 0.0000, -1.0472],a=1.00000,v=Speed000,r=Zone000)
12. movel(p[0.37300, -1.26756, -0.43400, 0.0000, 0.0000, -1.0472],a=1.00000,v=Speed000,r=Zone000)
13. movel(p[0.37300, -1.26756, -0.47800, 0.0000, 0.0000, -1.0472],a=1.00000,v=Speed000,r=Zone000)
14. movel(p[0.37300, -0.51756, -0.43400, 0.0000, 0.0000, -1.0472],a=1.00000,v=Speed000,r=Zone000)
15. movel(p[0.37300, -0.51756, -0.47800, 0.0000, 0.0000, -1.0472],a=1.00000,v=Speed000,r=Zone000)
16. movel(p[-0.00200, -0.89256, -0.17100, 0.0000, 0.0000, -1.0472],a=1.00000,v=Speed000,r=Zone000)
17. end
18. Program()

Hi Vicente,

Just wondering if you'd be willing to add support for KukavarProxy to robots? This will allow for "real-time" control and reading positions.

KukavarProxy:
https://github.com/ImtsSrl/KUKAVARPROXY

Good Morning,

Robots will not load because of a problem listed below.
Can anyone point me in a good direction to solve please?

Thank you

"Grasshopper Breakpoint
The RobotsGH Component Library was buid against a different major version of the Grasshopper SDK.
Local SDK = 1.0.0.20
Reference SDK = 6.11.1834420090

We are trying to modify the c# script in the pick and place example.gh file to show block placement using a UR robot, (which does not have PulseDO commands). The script uses the following lines. We tried to replace PulseDO with SetDO, but we get an error: (CS0305): Using the generic type 'System.Linq.Set' requires 1 type arguments. Also tried to use Custom command with a variable declaration, but not sure how to access the variable. Any suggestions would be appreciated.

foreach(var cellTarget in program.Targets)
{
var target = cellTarget.ProgramTargets[group];
if (target.Index != 0)
{
var pulse = program.Targets[target.Index - 1].ProgramTargets[group].Commands.FirstOrDefault() as Robots.Commands.PulseDO;

    if (pulse != null)
    {
      if (pulse.DO == 1) remaining -= 1;
      if (pulse.DO == 0) placed += 1;
    }
  }
  blocksRemaining.Add(remaining);
  blocksPlaced.Add(placed);
}

}

Hello, Robots people!

I am working on a pick and place project where I need to screw parts of an aggregation. We will use a 2 finger gripper to pick and place slats in specific positions and humans will screw them together. Because we don't know exactly how much time it will take, we would like to implement on the program an instruction to pause it and send a message box to the pendant asking if you want it to continue. Is it possible to do it?

Thanks a lot!

Victor

Hello, under what license is this project released under ? I would like to study it so I can learn how to use the Rhino API. Thank-you.

Hello Robots contributors,

I'm using Robots to attempt to control a UR3 robotic arm. I noticed none of the provided 3dm and XML files include the UR3 robot arm, only the UR5 and UR10. I tried drafting my own XML, but ran into some troubles. I can't attach the files to this request, email me at [email protected] so I can forward you my XML and 3dm file.

• For most of the parameters, it seems they added a tolerance of either 0.2, 0.3, or 0.7 mm. Is there any specific reason for this?
• I was able to map all the XML parameters to the CAD measurements for the 3 robots (UR3, UR5, UR10), but I could not find any dimension that matched revolute 4 on the UR5 or UR10 (I'm using the KULeuven XML for reference). Would you be able to help me find what this parameter is linked to?

I'm also missing splitting the UR3 on the 3dm file into indexed segments, but that's something I can work on by myself. Thanks for any help you can provide.

Of course, if I get the file set up, I'd be happy to add my 3dm and XML file to the list of robots you have documented on this repo.

I am writing to report a joint configuration error when I try to input a single joint configuration target to the Bartlett KR6 robot. I am using the fifth release (0.0.7)

I find all the joint's lower and upper limit for this KR6 robot in the bartlett.xml file and simply choose the middle value for each joint's lower and upper limit, convert them all from degree to radian, formulate it in text using comma , as separator, and plug it into a joint target component. However, the create program component gives me a really wrong configuration in rhino. A snapshot is shown below to compare the ground truth pose (orange color, generated from KUKA|PRC) and the one generated from the Robots package:

I am wondering if there is anything that I do wrong here? I suspect that I am not using joint target component in a correct way... Any help would be much appreciated!

For your convenience, a grasshopper file is attached here for you to reproduce the error.
bartletts-robots_joint-error.zip

Thank you!

Hi
i have prepared a definition to control a kuka kr 240, from grasshopper i don't have any error but when i copy files in program folder on kuka, it show me error in many lines (line 3, 4, 6, 7 and 9).

Hello,

I tried to run some movements on an old 2003 Kuka 150 with a win95 based vxWorks. Is there a way to modify the output accordingly. Most of the time it has problems with the linking of the .dat files. Is it possible to somehow ''flatten'' the Code to one .src file and implementing the old declarations?

Best M.Ş.

Hi

is possible to load in the library a 4 axis robot? ABB IRB460
i've try to follow the structure for 6 axis robot but when i put "load robot System" component and select my 4 axis robot the component show me the message : indices over matrix limit

best

Hello , i try to load robot but no list available
How i can choose the name?
And can't open any example file , always error
IO Read error: Unknown data type encountered.

Hi, I have this message while I try to load robots. The robots folder are under ~/User/Robots/ and using Rhino 6 under mac. The bartlett.xml and 3dm are loaded.

Some Robot Languages (like UR) allow for specifying the time a movement should take.
UR implements this with the t=xx parameter in most move fuctions.
I saw that this functionality is already available in the RobotCellUR but I may be mistaken:

would it be possible to expose a time input in the speed component or would that be confusing/break things for robots that don't use this functionality?

Hi, I'm getting this error when trying to load robot system:

1. Solution exception:The 'Base' start tag on line 17 position 9 does not match the end tag of 'Positioner'. Line 24, position 9.

I believe I followed the installation instructions correctly. For installing the robot libraries, I tried downloading the repo and copying them. After reading issues 4 and 15, I also tried downloading the xml from raw view. Any ideas?

Thanks, Brendan

Hi Vicente,

Hope you are doing well.

I built an Open Source AR3 Robot over the break out of my personal interest. Still work in progress, but works.
https://user-images.githubusercontent.com/8084742/103826424-b77d5100-506e-11eb-89fb-f56b90e84451.mp4

I have been trying to reuse the robot's plugin for the simulation by modifying the 3dm file and XML file.
AR3.zip

But the simulation seems off.

The robot uses a left-hand coordinate system as compared to the RHCS in Rhino and the DH parameters for 4th axis are negative which my brains do not understand. Please find the DH parameters attached.

Please let me know if you could help. Any help/ suggestions/ advise would also be really helpful.

I'm working on a separate post-processor with my minimal knowledge in Python. Hope it works as AR3 uses pickle which I just found out today. Will share once it is a bit it works.

Many thanks.

Kind regards,
Pradeep Devadass

Hello.

I just started using Robots instead of HAL3000. This plugin is well done and looks great. May I ask for help with four issues? (I use UR10):

1. Robots generates .URS file which is not recognized by UR PolyScope. The file extension needs to be .script ... Is there a way how to change this automatically? Also, there is still the possibility that I do something wrong.
2. The script won't run unless I call the function at the end (manual edit of .urs file). For example:

def Program():
movej(...)
movej(...)
Program() <<< this needs to be added at the end

3. Also, my remote access to the robot doesn't work. But that might be just absence of my knowledges. Is that just that easy - plug robot in, set IP address and "play" the program? Or does it require some additional setup in PolyScope?
4. Is it possible to edit acceleration?

Thanks!
Petr

When adding DO commands on targets, they do not seem to execute when the program is uploaded and launched via the RemoteUR component. The DO commands execute correctly when placed at the beginning of the program in the Program component, but not when placed on the Target component.

Dear Vincente,
May I ask for your help, to fix our robot Staubli XT60 in the bartlett robot repo? I put it in the xml and 3d file, but it is falling apart.
Here is the dropbox folder: https://www.dropbox.com/sh/4zxnwty97zgniyu/AAByzYfS1AUnCoC9EWcQlaEAa?dl=0

Thank you in advance.

I believe it has something to do with

RobotCellAbb.cs Ln 139
string declaration = command.Declaration(program);

Thx :-)

Hi Robots people!

When I am using robots to send programs to my UR5 it only works if I have less than ~2500 targets. So, I've been splitting the programs, which is not ideal. Do you have a solution for it?

Best!

Hello, was wondering if there is an examle that uses an external axis or positioner. I have not yet understood how the mechanical coupling works and would love to find out.

I am trying to build my own positioner with a stepper Motor (or rather a closed-loop servo) controlled by an Arduino or something similar, but I want to understand the way this plugin handles external axes first. Additionally, Do you have any ideas on how to synchronise a Stepper motor and a robot, with the possibilites of your plugin? Any help would be greatly appreciated.

Moving towards using NuGet for RhinoCommon and Grasshopper dependencies would make it easier to keep dependencies consistently targeted and updated: http://developer.rhino3d.com/guides/rhinocommon/using-nuget/

Hello Vincente,

I understand that the create speed component asks for linear speed in mm/s and angular speed in rad/s (would be better if the proper units were mentioned in the component entries ?).

In the xml cell definition, linear speed limit is expressed in mm/s and angular speed limit in °/s (would be better if the same units were used all over your plugins ? => °/s seems a bit more human readable to me ...).

However, it seems that the Create program component interprets the speed value as if it was m/s for external axis and not mm/s. Thus the component always shows a warning (speed limit reach).

More over, if I play with the angular speed definition, I never get a warning regarding rotational speed limit. Is there something not implemented yet ?

Thanks,
Lionel

Hi Vicente,

I've noticed that in the newest version of robots, Eighth release, the plugin seems to prefer to use the flipped wrist orientation (001 status).
Is this an intentional decision? as this seems to create maxed out axis more often than not.

Another issue is that I can only set the DO up to 35, after that the create program will give an error:

1. Solution exception: Index of digital output is too high.

Hello,

I have recently tried to construct a custom robot cell (UR10 and linear external axis), and have had some problems with loading the robot system within grasshopper. Basically I had taken an existing 3DM and XML file (AAU_UR10) and added my own track geometry while also integrating the necessary code within the XML to account for this track geometry in the 3DM. Although no errors are present explicitly, the problem occurs when trying to load the custom library. Only the robot arm will load in when the library is referenced while the track geometry is not present. I have tried this again and again, using different names and manufacturers to test the validity of the script. I found that if an ABB or KUKA robot is used, and the track manufacturer is also declared as ABB or KUKA, then the custom library loads with no problem. This problem only seems to happen when UR is declared as the manufacturer. I have attached the custom library here (SAPL-UR10e-OnTrack), along with the screenshot showing the problem.
I am not sure if this is a bug in the program or if I am doing something wrong, but any pointers from here would be much appreciated.

Thanks!

SAPL-UR10e-OnTrack.zip