Opencascade hal component, display and interact with 3d stepfile models

Hi,

Could it be handy to integrate the "opencascade cad viewer" in a linuxncnc .so component?
The tk visualisation is a little bit outdated in the sence of displaying cool stepfile models.

Who thinks this is a cool option?

Collision control is a nice option !
But it has to trigger the collision before there is a actual part collision.
We have to apply some magic here.

Hi,

Yes dry run.

In the kinematic component or another component you could add a pin that blocks the motor outputs. In the robot program i have
a selector wich enables the motors.
You could add a pin to the stepgen or pid component for this. The solution an sich is quite easy to integrate.

We got some progress.
The opencascade.so component is first online now.
And it start the opencascade screen in a separate thread. I had to write some unusual
code for this. It has to start a mainwindow from inside a shared library. And it may not freeze the application. That is solved now.



. Maybe stl collision control could be useful in such a feature?
The Open CASCADE Collision Detection is an additional SDK offered on a commercial basis.
This is sheise.

Maybe we can use this one : github.com/flexible-collision-library/fcl

[edit]
Now the opencascade screen can recieve joint values.

To sniff around in the source code, visit : github.com/grotius-cnc/hal-opencascade

Hi,

It now loads the robot model.
I had to solve a message : std::bad alloc
This was happening when the kinematic.so and the opencascade.so where loaded together on the servo-thread.

I think the showing time value's are quite good.

The basic's are working now. A proof of concept is done!

Have to code straight to the finish line now. I will keep the c & c++ code as simple as possible.

Arciera, do you have your robot stepfiles already?

 

Latest source code for info : github.com/grotius-cnc/hal-opencascade/releases/tag/1.0.0

Hi Arciera,You don't have to look. I have some work to do before it's ready.
If you have any time left, could you convert the stl's to step? Maybe color the files a little bit, so it looks cool !!

My first attempt rotating the machine by setting joint hal rw parameters with forward kinematics.
 

[edit]
And a video where the inverse kinematics is just working.

To apply the gcode, we want to use a kind of 3d matrix for this. Then we can position the gcode to our needs.

Todo : Maybe search how linuxcnc read's the gcode. This would save us programming time.

Then we can visualize the gcode with the machine model. The dxfrw library is already inside the opencascade component.
We could display dxf files already !

For the kinematics i will add hals pin's for 
1. ik from current position - ik from init position.
2. user defined ik iteration value ~100

Ok so far so good! Have a nice day!










 

Nice robot !
If you have the joint min and max values present in degrees or radian, would be perfect.