Scene Objects

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This section introduces the scene objects and corresponding configurations.

Introduction

Scene objects, usually including the safety fence, picking bin, tray, camera, and camera stand, refer to objects in the real scenarios where the robot performs various tasks.

Scene Object Model

Adding scene object models makes the scene in the software closer to the real scenario, which facilitates the collision detection and path planning.

You can create models of a cuboid, bin, or cylinder. You can also use a custom model imported from outside the software. The supported format of the visualization model and collision model are shown in the table below.

Format

STL

OBJ

DAE

Binvox

Visualization Model

√

Collision model

√

The Parent-Child Relationship of the Scene Objects

You can establish a parent-child relationship between scene objects. Once the relationship is established, the child model will be moved as well if the parent model is moved, and the child model will be deleted as well if the parent model is deleted. However, the parent model will not be affected if you move or delete the child model individually.

Configure the Scene Object

You can add, modify, or delete the scene objects in the project resource tree.

Add a Scene Object

Please follow the steps below to add a scene object model of the Cuboid, Cylinder, or Bin type.

Go to Project resource tree Scene objects, and click + to open the Scene Object Configuration window.
In the Object Settings tab, select the Scene model type in the drop-down list.
- Set the X, Y, Z (length, width, height) for a Cuboid model.
- Set the Radius and Height for a Cylinder model.
- Set the X, Y, Z (length, width, height), and Thickness for a Bin model.
Enter a custom name for the scene object model in the Object name text box.
By default, the newly added scene object is located at the origin of the robot base reference frame. You can click the Object Pose tab in the Scene Object Configuration window to switch the configuration interface, and modify the parameters to adjust the pose of the scene object model.
Click OK.

Please follow the steps below to add a Custom model.

Click the + next to Project resource tree Model library, and select the collision model and visualization model in the pop-up window, and then click Open.
Go to Project resource tree Scene objects, and click + to open the Scene Object Configuration window.
In the Object Settings tab, select Custom model as the Scene model.
Set the scene object model used for the collision detection as the Collision model.
Set the scene object model used for visualization in the 3D simulation area as the Visualization model.
Enter a custom name for the scene object model in the Object name text box.
By default, the newly added scene object is located at the origin of the robot base reference frame. You can click the Object Pose tab in the Scene Object Configuration window to switch the configuration interface, and modify the parameters to adjust the pose of the scene object model.
Click OK.

If you need to add more scene object models, please repeat the above steps.

If you select an added model in the project resource tree and then click +, a child model of the current model will be added, and the default pose of the child model will be the same as that of the parent model.

You can drag the scene object in the project resource tree to change it into a child model or individual model.

Delete the Scene Object

Follow either of the following steps to delete a scene object.

Select the scene model in the 3D simulation area or the model name under Project resource tree Scene objects and press the Delete key.
Right-click the scene object in the 3D simulation area or the model name under Project resource tree Scene objects and select Delete in the context menu.

Modify the Scene Object

Follow either of the following steps to open the Scene Object Configuration window.
- Double-click the object model in the 3D simulation area.
- Go to Project resource tree Scene objects and double-click the scene object name.
- Right-click the name of the scene object under Project resource tree Scene objects and select Scene Object Configuration in the context menu.
Modify the parameters according to the actual requirement.
Click OK.

You can also select the scene object in the 3D simulation area, and adjust the model pose with the manipulator.

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