::heading=Context How to consult collision model
This article aims to help you visualize and consult collision model you add to your paletizer.
::note=This should only be used to debug an application. Once the program is operational, the function should be removed or suppressed to avoid potential problems.
::heading=Generate the collision model
To generate the collision model, you must add this line where you want to generate a save of the collision model :
::important= node_rpc_server.savePalletizerSceneToPlyFile()
- Then run your program
- Stop it.
- Going through this line generated a Ply File to visualize the collision model register on the robot here : /tmp/ucs/rq_xmlrpcserver/palletizer_collision_scene.ply
::heading=Generate the collision model
To see the collision scene do these steps
- Put an empty USB key on the teach pendant.
- Follow these steps and wait till it's done.
- On your USB stick, there will be a log folder.
- Go to this directory to access the collision scene(Number can vary) logs\20225204789\20231026_222110\Robotiq\RootRobotiq.zip\logs\ucs\rq_xmlrpcserver
- Visualize the collision scene named palletizer_collision_scene.ply with a software such as Meshlab
I can check if my collision boxes are correctly placed (here wall around pallet + ceilling =ok) :
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