Detect Bin (Two Sides)
Function
Given the poses of the two sidewalls of the bin and the settings of the collision model, this Step calculates the pose and dimensions of the collision model of each sidewall.
Usage Scenario
This Step is used to recognize the bin and send the results to an external service for collision detection.
Input and Output
Parameter Description
Collision Model Settings
| Parameter | Description |
|---|---|
Length |
Parameter description: Length of collision model. Default value: 1000.000 mm |
Width |
Parameter description: Width of collision model. Default value: 100.000 mm |
Height |
Parameter description: Height of collision model. Default value: 800.000 mm |
Align Type |
Parameter description: Alignment type of collision model with bin sidewall.
Default value: InsideAlign |
Translation |
Parameter description: The translation of the collision model along the y-axis of its own pose. After the side of the model is aligned with the sidewall of the bin, the model translates this distance. Default value: 0.000 mm |