When using the find surface to put the box on the pallet, the gripper can be in a theoretical collision model. Therefore, a collision detected pop-up appears.
Before using the presented function check the pallet height and the box height before.
If the problem persists this is the situation to use this function.
Description :
Determines if a detected collision
between the boxes and the gripper is allowed when leaving the Release folder (used when a Find Surface or
a similar method is used to gently place the box lower than expected).
How ?
To access advanced feature like collision model, you need to add a feature point named: RQ_PAL_JSON and teach this point.
Where to add ?
Then you will have access to the additional JSON parameter Field
What to add ?
[JSON] allowCollisionsBetweenGripperAndBoxesOnPalletAtTrajectoryStart
Description
Ignore collision at the beginning of trajectory after exiting release folder. Best when using a Find surface at the release like in depalletizing or when the boxes have variable heights.
Declaration
{"allowCollisionsBetweenGripperAndBoxesOnPalletAtTrajectoryStart": isAllowed}
Parameters
isAllowed |
(type: bool) |
Example
{"allowCollisionsBetweenGripperAndBoxesOnPalletAtTrajectoryStart": True}