Industrielle styresystemer - Wiki
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.
Using the Python library Paho-Mqtt we created the subscriber client in blender. The data is formatted as 3 floats split by commas. So to change the position of the end-effector in the 3D-viewport we used the Blender Python API.