No Collision Check with Placed Obj

Default: False

List of values: False, True

Instructions:

When using the function Detect Collision between Picked Object and Others in Picked Object Configuration, the followings are the two possible cases of errors:

1. In palletizing scenarios, when the robot is placing a carton, the carton to place may come into light contact with the placed cartons (no box deformation will happen). After Mech-Viz detects this collision in simulation, it will plan other places for placing the box, and therefore a full stack can not be formed.

2. Usually, the TCP of a suction cup is not on the surface of it but inside the suction cup model. Under this circumstance, in the simulation of picking, the suction cup may be inside the model of the carton to pick (Mech-Viz does not check the collision between the end effector and the object to pick). After the robot places the object and the carton model turns into an object model in the scene, Mech-Viz will start to check the collision between the suction cup and the carton. Therefore, a warning of detected collision will be issued and the palletizing mission cannot be completed.

When the parameter is set the True, no collision check between the robot, end effector, and the placed object will be performed, and the above two cases of errors can be avoided.

Note

Move tasks have the Pick or Place setting. Usually, move tasks implemented before visual_move should be set to Pick, and those after visual_move should be set to Place. In this way, move tasks after the robot picks the object are placing tasks.