How to handle trajectory planning and collision errors

Context
When the robot encounters trajectory planning or collision errors, it can stop unexpectedly or fail to execute a move. This guide explains how to troubleshoot and understand these errors using built-in logs and external tools.

Troubleshooting

Always begin by reviewing the Troubleshooting section in the robot’s user manual. It outlines standard error types and initial resolution steps.

2. Understand the Error Type

The errors usually fall into two categories:

• Trajectory Planning Errors – when the robot cannot find a valid path.

• Collision Errors – when the collision model detects an obstacle along the path.

These messages are often shown on-screen but are detailed further in the log files/tab :

3. Check the Logs

Access the robot logs to find detailed messages:

• Look for lines describing the failed trajectory or detected collision.

• The logs often mention which object or model caused the conflict.

In the logs :

There are detailed lines with descriptions and most of the time the collision to consult.

4. Visualize the Collision Scene (Advanced)

For deeper analysis:

1. Download MeshLab – a free 3D viewer.

2. Follow this Robotiq guide to load the scene and inspect the collision:
   How to Consult a Collision Scene

5. Modify or Create Collision Models

If needed, you can:

• Adjust existing models

• Create new box-type collision models for better fit and accuracy

Refer to this article:
 How to Generate Box Collision Models