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Our visualization pipeline:

At first we were uncertain about what system we wanted to use to visualize Cabot. At first we tested simple visualization and a GUI in CodeSys, but as CodeSys is a slow program we wanted to use third-party software. We knew that we had two options, Ignition and CDP-Studio. Both of which are new software packages to all of the group members and it would require a communication protocol. As the project went on we deprioritised the visualization and GUI, untill we heard from another group that they were using Blender. Blender is a 3D graphics program with no built in support for communication, but has great modelling tools and rendering capabilities. Since blender has a Python API, and we now had MQTT setup, we decided to give it a go.

While the 24_7 CDP-Studio Dashboard was being developed, the blender script and visualization was developed in parallel. Lets go into the details of the Blender pipeline.


Info

Lead: Magnus


Visualization in Blender:

First of all we created the digital double. As most parts of our digital double does not need to be dimensionally accurate, such as the motor size and the end-effector, it was a simple modelling job. The dimensions of the aluminum profiles has to be accurate though, so they were created with that in mind.

Now that the digital double was created, we wanted to make the position of the end-effector of our digital representation match the actual end-effector position on Cabot. MQTT was needed for this, so we created a script using the Blender API for this task.