During simulation of robots to place target objects, a message saying a collision with a placed target object pops up, and the planning always fails

Symptom:

The planning always fails during robot simulation. The failure node occurs in the move-type Step following the Step used for placing, indicating a collision between the tool and a placed target object.

Affected Software Versions:

All Mech-Viz versions

Possible causes:

By default, collisions between the tool and the “held target object” are not detected, but collisions between the tool and the “placed target object” are detected in the Mech-Viz. In some cases, the tool and held target object embed into each other, causing a collision. When a target object is placed down, the “held target object” becomes a “placed target object.” At this point, the tool is not completely separated from the “placed target object,” so the Mech-Viz will detect a collision between the tool and the “placed target object.”

Solution:

In the move-type Step following the Step where Pick or place is set to Place, enable Do Not Check Collision with Placed Target Object under Move-Type Step Common Parameters.