MuriGlo Installation Instructions

3 minute read

This guide outlines basic steps necessary to install the MuriGlo software. This guide is valid for MuriGlo version(s):

  • 1.6.0

Procedure

Installing MuriGlo

  1. Download and launch the latest installer of MuriGlo software to install it to the computer.
  2. Check “Add MuriGlo to path”. This will add all the dlls and executables that MuriGlo needs to the path.
  3. Select Upgrade if you are upgrading the computer. Select Full if setting up the computer for the first time.

Note: Selecting Full will overwrite configuration files, proceed with caution.

  1. The remaining options can be left as default.

File Structure

  • CorrMap.mat should be placed in the C:\MuriGloData\Calibration directory. It has to be named CorrMap.mat.
  • Copy the geometrytransform.csv file from C:\Program Files\Xstrahl\MuriGlo\data to the C:\MuriGloData\Calibration\ directory. Create the directory if it doesn’t exist.
  • Experiments are saved in the C:\MuriGlo\Experiments directory. Each experiment is a folder within this directory. All images should be saved in the scans directory of the experiments directory.

Visual Studio Redistributable 2022

On some systems it may be necessary to install the Visual Studio 2022 Redistributable. If an error message pops up stating that the files msvcr143.dll and/or msvcp143.dll are missing then this step is necessary.

  1. Click the above link.
  2. Open the downloaded file and follow the onscreen prompts to complete the installation. A reboot may be necessary to fully complete the installation.

GPU Driver Update

Certain MuriGlo versions may require an update to the GPU driver on the MuriGlo computer. The next section outlines necessary steps to update the GPU driver.

Updating an NVIDIA GPU Driver

  1. Ascertain what GPU is installed on the computer that needs a driver upgrade. Below are two options to do this.

    Use Device Manager

    1. To view the available GPUs on the system open Device Manager and navigate to Display Adapters.
    2. Note the name and model of the GPU device. device-manager

Use CUDA-Z

Cuda Z is a standalone tool that gives you useful information on the drivers and GPUs installed on your system. Note this tool only works for NVIDIA GPUs.

  1. Download CUDA-Z here.
  2. Lauch CUDA-Z to check the installed driver versions and what GPUs are available on the system.

Install the driver.

  1. Navigate to the NVIDIA Driver Download webpage.
  2. Select the Product Type, Product Series and Product that matches the GPU description seen in either Device Manager or CUDA-Z.
    1. In the device manager screen shot above, the only availble GPU is an NVIDIA Quadro K2200. This corresponds to a Product Type of Quadro, a Product Series of Quadro Series and the Product is the Quadro K2200.
  3. Select the correct operating system for the computer you are working on (either Windows 7 or 10).
  4. Select the Optimal Driver for Enterprise (ODE) option (do not select the QNF) option.
  5. Click Search.
  6. The driver search tool should find the latest available driver for download. Download the driver and then launch the installer.
  7. Use the defaults to complete installing the driver. This may take a significant amount of time to complete.

Set up for new hardware configuration

Starting with 1.6.0 of the MuriGlo software, a new hardware configuration system is used for the robotics. First, a muriglo_hardware_config.json file needs to be created and saved to C:\ProgramData\Xstrahl, Inc\MuriGlo. This file contains the hardware configuration settings for the MuriGlo software. The following is an example of the contents of the file:

{
    "hardware-config": {
        "cereal_class_version": 1,
        "hardware_info": [
            {
                "cereal_class_version": 1,
                "type": "RoboticController",
                "role": "PrimaryRobotics",
                "name": "Arcus Motor",
                "model": "DMX 17-3",
                "manufacturer": "Arcus",
                "serial": "",
                "required": true
            }
        ]
    }
}

What is important to note here is the model field. Change this to TITAN IMX 17-2 if using the newer version of the Arcus motor.

When first running the MuriGlo, the software will create a settings file for the particular motor model that is in the hardware configuration file if the settings file does not exist. Below are examples of these files for the support Arcus motor types.

Arcus DMX 17-3
{
    "robot_config": {
        "cereal_class_version": 1,
        "steps_from_home": 9600.0,
        "steps_for_ninety_degrees": 4796.0,
        "degree_offset": 0.0,
        "communication_type": "Usb"
    }
}

Note: Change Usb to Ethernet if using the Ethernet version of the motor.

Titan IMX 17-2

The TITAN series motor requires two files: one for communication settings and one for motor settings:

Communication
{
    "communication_settings": {
        "cereal_class_version": 1,
        "motor_index": 1,
        "com_port": "COM4",
        "baud_rate": 115200
    }
}
Motor Settings
{
    "robot_config": {
        "cereal_class_version": 1,
        "motor_index": 1,
        "steps_from_home": 61720,
        "steps_for_ninety_degrees": 38420,
        "bed_sensor_index": "DigitalInput5",
        "bed_sensor_active_high": false,
        "homing_speed": 5,
        "speed": 15,
        "acceleration": 3000,
        "position_kp": 50,
        "velocity_kp": 100,
        "velocity_ki": 40,
        "current_kp": 70,
        "kalman_velocity_noise": 5.0,
        "kalman_current_noise": 0.5
    }
}

Note: The “bed_sonsor_index” can be changed depending on which digital input the bed sensor is connected to. The default is DigitalInput5.

Updated: