This article aims to help you visualize and consult the collision model you add to your palletizer
Generate the collision model
To generate the collision model, you must add this line where you want to generates a save of the collision model :
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
*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
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) collision_scenes\20246900152\20250107_223254\ucs_rq_xmlrpcserver_logs\
- 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) :
