Simul8 Import kinematics tutorial¶
▶ Simul8 Import kinematics tutorial — Watch on YouTube
hi my name is simone and i am 3d hi my name is simone and i am 3d supervisor at mark roberts motion supervisor at mark roberts motion supervisor at mark roberts motion control in this simulator tutorial control in this simulator tutorial control in this simulator tutorial i will show you how to use the new i will show you how to use the new i will show you how to use the new features introduced with version 1.0.5 features introduced with version 1.0.5 features introduced with version 1.0.5 import rig kinematics from flare and import rig kinematics from flare and import rig kinematics from flare and import axis import axis import axis limits from flare in order to export limits from flare in order to export limits from flare in order to export kinematics from flare what we need to do kinematics from flare what we need to do kinematics from flare what we need to do is to press on file is to press on file is to press on file config data export text config and config data export text config and config data export text config and set export file i want to export the set export file i want to export the set export file i want to export the kinematics so kinematics so kinematics so when i'm going to set the file wherever when i'm going to set the file wherever when i'm going to set the file wherever is oh is oh is oh truck kinis truck kinis truck kinis once i've set up the name of the file i once i've set up the name of the file i once i've set up the name of the file i need to go back to config data need to go back to config data need to go back to config data and export text config and then press on and export text config and then press on and export text config and then press on kinematics flare kinematics flare kinematics flare will then write the complete list of will then write the complete list of will then write the complete list of kinematics into kinematics into kinematics into a human readable file it's 39 parameters a human readable file it's 39 parameters a human readable file it's 39 parameters you can double check them you can double check them you can double check them if you want and they should be the same if you want and they should be the same if you want and they should be the same let's close this and go to maya let's close this and go to maya let's close this and go to maya i will then import the bow with rick i will then import the bow with rick i will then import the bow with rick mover mover mover and then input for every kinematics and then input for every kinematics and then input for every kinematics and then let's build truck keynotes the first thing that you notice is that the first thing that you notice is that the the the lift axis is popping up so let me open lift axis is popping up so let me open lift axis is popping up so let me open the hierarchy the hierarchy the hierarchy this is the lift axis if you can see this is the lift axis if you can see this is the lift axis if you can see that that that wireframe mode yeah so the reason why wireframe mode yeah so the reason why wireframe mode yeah so the reason why that popped up that popped up that popped up is because is because is because the base mounting flare the base mount value the base mount value height of the base mount in flare is height of the base mount in flare is height of the base mount in flare is taking in consideration taking in consideration taking in consideration also the height of also the height of also the height of the row from the ground the row from the ground the row from the ground and that it's fine if you need to con and that it's fine if you need to con and that it's fine if you need to con configure properly configure properly configure properly the 3d working inside of flare so if you the 3d working inside of flare so if you the 3d working inside of flare so if you want want want a camera 3d data that is properly a camera 3d data that is properly a camera 3d data that is properly offset vertically from the ground floor offset vertically from the ground floor offset vertically from the ground floor in your real studio once you've set up in your real studio once you've set up in your real studio once you've set up the rig and the rig and the rig and the rows are level properly then you the rows are level properly then you the rows are level properly then you need to set this value properly so and that you set this value properly so and that you you would take a tape measure and then you would take a tape measure and then you would take a tape measure and then measure the distance of the camera from measure the distance of the camera from measure the distance of the camera from the floor the floor the floor sorry the distance from the height of sorry the distance from the height of sorry the distance from the height of the base mount from the floor the base mount from the floor the base mount from the floor and then the flare system will set up and then the flare system will set up and then the flare system will set up everything accordingly to that everything accordingly to that everything accordingly to that however in maya the height of the base however in maya the height of the base however in maya the height of the base mount it's simply the height mount it's simply the height mount it's simply the height of the rotator axis from the the rotator axis from the top of the truck and that is because if top of the truck and that is because if top of the truck and that is because if you want to compensate after you want to compensate after you want to compensate after you've leveled the row and the truck the you've leveled the row and the truck the you've leveled the row and the truck the only thing you have to do is to only thing you have to do is to only thing you have to do is to basically lift the rigs up basically lift the rigs up basically lift the rigs up in 3d in maya without using the in 3d in maya without using the in 3d in maya without using the kinematics kinematics kinematics so how do you compensate for this well so how do you compensate for this well so how do you compensate for this well what you need to do is basically measure what you need to do is basically measure what you need to do is basically measure with the tape measure with the tape measure with the tape measure what's the distance between the floor what's the distance between the floor what's the distance between the floor and the top of the rail and then and the top of the rail and then and the top of the rail and then subtract it subtract it subtract it to your base mount into the kinematic to your base mount into the kinematic to your base mount into the kinematic files so in this case the height so in this case the height of the base mount is um of the base mount is um of the base mount is um 98 centimeters and i know 98 centimeters and i know 98 centimeters and i know that in these flair kinematics setup the that in these flair kinematics setup the that in these flair kinematics setup the height of the rail from the ground height of the rail from the ground height of the rail from the ground from the floor to the top of the from the floor to the top of the from the floor to the top of the bearings row the row is bearings row the row is bearings row the row is 18 centimeters so i will set this 18 centimeters so i will set this 18 centimeters so i will set this to 80. to 80. to 80. and save and i need to do this before and save and i need to do this before and save and i need to do this before importing the kinematics in maya importing the kinematics in maya importing the kinematics in maya so the right workflow will be first set so the right workflow will be first set so the right workflow will be first set up your kinematics in flare up your kinematics in flare up your kinematics in flare measure the height of the base mount measure the height of the base mount measure the height of the base mount from the floor once you've levered the from the floor once you've levered the from the floor once you've levered the rail rail rail and that would be 98 centimeters export and that would be 98 centimeters export and that would be 98 centimeters export the kinematic files then subtract the height of the row then subtract the height of the row which is 18 centimeters to the height of which is 18 centimeters to the height of which is 18 centimeters to the height of the base mount the base mount the base mount and that's variable every time you're and that's variable every time you're and that's variable every time you're going to set up and level the road in a going to set up and level the road in a going to set up and level the road in a new position or in a new location that's new position or in a new location that's new position or in a new location that's technically different it's going to be technically different it's going to be technically different it's going to be different different different and then import it back to and then import it back to and then import it back to your rig and simulate so let's import it your rig and simulate so let's import it your rig and simulate so let's import it again yeah that looks much better yeah that looks much better um if you want to be scrupulous what you um if you want to be scrupulous what you um if you want to be scrupulous what you can do also is to can do also is to can do also is to select the rig mover node and open the select the rig mover node and open the select the rig mover node and open the attribute editor attribute editor attribute editor under extra attributes under extra attributes under extra attributes you will find a less of the kinematics you will find a less of the kinematics you will find a less of the kinematics that that that the rig mover shape node is using in the rig mover shape node is using in the rig mover shape node is using in order to reverse animate order to reverse animate order to reverse animate this rig now um this rig now um this rig now um these setup and this workflow is these setup and this workflow is these setup and this workflow is basically passing through only the basically passing through only the basically passing through only the kinematics file kinematics file kinematics file when when it comes to the nodal offset when when it comes to the nodal offset when when it comes to the nodal offset you will still have to copy them over you will still have to copy them over you will still have to copy them over manually so what you want to do manually so what you want to do manually so what you want to do is to go back to flare and check out is to go back to flare and check out is to go back to flare and check out and set up lens setup and set up lens setup and set up lens setup and check out the lens that you're using and check out the lens that you're using and check out the lens that you're using at the moment and then copy the nodal at the moment and then copy the nodal at the moment and then copy the nodal offset offset offset over to your over to your over to your rig mover shape node in to rig mover shape node in to rig mover shape node in to maya because those are not going through maya because those are not going through maya because those are not going through the kinematics files the kinematics files the kinematics files if we want to instead export if we want to instead export if we want to instead export the axis values and limits the axis values and limits the axis values and limits there are only four values that there are only four values that there are only four values that the um let's go to the numeric the um let's go to the numeric the um let's go to the numeric there are only four values that there are only four values that there are only four values that simulator is interested in and simulator is interested in and simulator is interested in and those are when it comes to the axis those are when it comes to the axis those are when it comes to the axis limits and those are limits and those are limits and those are the axis velocity the axis acceleration the axis velocity the axis acceleration the axis velocity the axis acceleration the maximum limit and the minimum limit the maximum limit and the minimum limit the maximum limit and the minimum limit this this this is all that simulate needs to know is all that simulate needs to know is all that simulate needs to know inside the limit checker in order to inside the limit checker in order to inside the limit checker in order to solve a move properly everything else is solve a move properly everything else is solve a move properly everything else is not not not it's it's for fur so what you want to do it's it's for fur so what you want to do it's it's for fur so what you want to do it's very similar to how to export the it's very similar to how to export the it's very similar to how to export the kinematics from kinematics from kinematics from the kinematics file and it's go to file the kinematics file and it's go to file the kinematics file and it's go to file command so it was export text config and command so it was export text config and command so it was export text config and set export file set export file set export file um let's set it to access limits save and save and config data export text config and now config data export text config and now config data export text config and now export access export access export access oh access you can also select taxes but oh access you can also select taxes but oh access you can also select taxes but let's do access first access data has let's do access first access data has let's do access first access data has been appended to file been appended to file been appended to file what i want to stress about is that what i want to stress about is that what i want to stress about is that the naming of the axes in flair the naming of the axes in flair the naming of the axes in flair has to be the same as the naming of the has to be the same as the naming of the has to be the same as the naming of the axes axes axes in simulate and because you can't change in simulate and because you can't change in simulate and because you can't change the name of the axis in the name of the axis in the name of the axis in simulate yet um what we will have to do simulate yet um what we will have to do simulate yet um what we will have to do is to be careful that the axes are is to be careful that the axes are is to be careful that the axes are matching the same matching the same matching the same name uppercase and lowercase included name uppercase and lowercase included name uppercase and lowercase included before exporting them before exporting them before exporting them into the axis limits and values file into the axis limits and values file into the axis limits and values file let's open this and let's see how it let's open this and let's see how it let's open this and let's see how it looks like looks like looks like so action access configuration has got so action access configuration has got so action access configuration has got like a like a like a very long list of values per very long list of values per very long list of values per access so access so access so nothing to change here it looks all nothing to change here it looks all nothing to change here it looks all right so let's open maya right so let's open maya right so let's open maya and let's check the limit checker so my input track maximum velocity at so my input track maximum velocity at the moment is 4.9 the moment is 4.9 the moment is 4.9 and my truck maximum acceleration is 5.7 and my truck maximum acceleration is 5.7 and my truck maximum acceleration is 5.7 with a minimum and maximum value of -1 with a minimum and maximum value of -1 with a minimum and maximum value of -1 and 1. so and 1. so and 1. so it is the same workflow it is the same workflow it is the same workflow and same way of importing the file so and same way of importing the file so and same way of importing the file so select the select the select the rig node and then input kinematics rig node and then input kinematics rig node and then input kinematics actually i want to import access limits actually i want to import access limits actually i want to import access limits this time this time this time select the axis limits select the axis limits select the axis limits and then let's check if they've been and then let's check if they've been and then let's check if they've been updated updated updated yes now i've got different i've got yes now i've got different i've got yes now i've got different i've got different values minus four six and different values minus four six and different values minus four six and minimum value minimum value minimum value and our maximum values is five and then and our maximum values is five and then and our maximum values is five and then i've got different velocities and i've got different velocities and i've got different velocities and different acceleration let's double different acceleration let's double different acceleration let's double check check check if that is the case i will do that just if that is the case i will do that just if that is the case i will do that just for for for the track axis but obviously i encourage the track axis but obviously i encourage the track axis but obviously i encourage you to do that for you to do that for you to do that for all the other axes just to be sure all the other axes just to be sure all the other axes just to be sure so my maximum velocity is so my maximum velocity is so my maximum velocity is 500 and that's five and my maximum 500 and that's five and my maximum 500 and that's five and my maximum acceleration is 600 acceleration is 600 acceleration is 600 and that's six there is a scaling and that's six there is a scaling and that's six there is a scaling conversion done automatically for you conversion done automatically for you conversion done automatically for you because the limit checker works with because the limit checker works with because the limit checker works with one unit per meter rather than one unit per meter rather than one unit per meter rather than one unit per centimeters so don't worry one unit per centimeters so don't worry one unit per centimeters so don't worry if the number is not the same as it's if the number is not the same as it's if the number is not the same as it's like like like 100 times bigger and that would be the same for the and that would be the same for the extend extend extend into crane like rigs like milo for into crane like rigs like milo for into crane like rigs like milo for example or titan example or titan example or titan um so um so um so 500 and minor four six 500 and minor four six 500 and minor four six for six and then this is how you update this is how you update your access limits and that's useful if your access limits and that's useful if your access limits and that's useful if you have you have you have um flare and a rig set up um flare and a rig set up um flare and a rig set up properly on set and you want to quickly properly on set and you want to quickly properly on set and you want to quickly pass over the files pass over the files pass over the files and update all the limits and update all the limits and update all the limits and kinematics of your and kinematics of your and kinematics of your 3d system in simulate and one last quick 3d system in simulate and one last quick 3d system in simulate and one last quick thing that i want to talk about before thing that i want to talk about before thing that i want to talk about before wrap up this tutorial is the if you wrap up this tutorial is the if you wrap up this tutorial is the if you are looking into importing kinematics are looking into importing kinematics are looking into importing kinematics files from a milo files from a milo files from a milo motion control system or a crane like motion control system or a crane like motion control system or a crane like one one one the way that flare manages the height the way that flare manages the height the way that flare manages the height of the 3d data from the ground is of the 3d data from the ground is of the 3d data from the ground is through camera height through camera height through camera height at zero if you remember from robot kind at zero if you remember from robot kind at zero if you remember from robot kind of of of motion control um motion control um motion control um it's with the height of the bass it's with the height of the bass it's with the height of the bass um from the floor whereas with a cyclops um from the floor whereas with a cyclops um from the floor whereas with a cyclops like crane-like type it's from it's like crane-like type it's from it's like crane-like type it's from it's using camera height at zero the value so using camera height at zero the value so using camera height at zero the value so you will see you will see you will see that if i add for example here three that if i add for example here three that if i add for example here three centimeters and centimeters and centimeters and let's go to 60 um let's go to 60 um let's go to 60 um actually let's make it higher a bit actually let's make it higher a bit actually let's make it higher a bit higher let's make it higher let's make it higher let's make it one just to make it clear one just to make it clear one just to make it clear let's go one meter what you will see if let's go one meter what you will see if let's go one meter what you will see if i apply and then i apply and then i apply and then update yes if i and then update the update yes if i and then update the update yes if i and then update the rig module you will see that the um rig module you will see that the um rig module you will see that the um the whole arm and the axis of the lift the whole arm and the axis of the lift the whole arm and the axis of the lift access is basically like lifting up so access is basically like lifting up so access is basically like lifting up so bringing the camera higher effectively bringing the camera higher effectively bringing the camera higher effectively related to related to related to the ground um let's bring it back to the ground um let's bring it back to the ground um let's bring it back to 577 apply it and let's refresh the view right let's refresh the view right in order to explore correctly these in order to explore correctly these in order to explore correctly these kinematics what simulator is reading is kinematics what simulator is reading is kinematics what simulator is reading is the lift pivot the lift pivot the lift pivot height so these has to be the height so these has to be the height so these has to be the measurements between the top measurements between the top measurements between the top of the row and the height of your of the row and the height of your of the row and the height of your lift pivot and that's what simulate it's lift pivot and that's what simulate it's lift pivot and that's what simulate it's going to read going to read going to read in order to set up the distance of the in order to set up the distance of the in order to set up the distance of the rig properly rig properly rig properly one thing to mention is also that flat one thing to mention is also that flat one thing to mention is also that flat doesn't care about this value so this doesn't care about this value so this doesn't care about this value so this value value value is not going to be like the camera is not going to be like the camera is not going to be like the camera height at zero value is not going to height at zero value is not going to height at zero value is not going to influence the working state of the influence the working state of the influence the working state of the kinematics in flare kinematics in flare kinematics in flare so flare even if this was zero would so flare even if this was zero would so flare even if this was zero would still work properly and the target still work properly and the target still work properly and the target tracking modes and everything else in in tracking modes and everything else in in tracking modes and everything else in in in in the data in the setups will be in in the data in the setups will be in in the data in the setups will be will be fine will be fine will be fine and with this for this tutorial is and with this for this tutorial is and with this for this tutorial is oh if you have any questions suggestions oh if you have any questions suggestions oh if you have any questions suggestions or or or comments please don't hesitate to write comments please don't hesitate to write comments please don't hesitate to write us an email to support us an email to support us an email to support markroberts.com and markroberts.com and markroberts.com and to the next one