Configure Scene Objects
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:
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The child model will be moved as well if the parent model is moved.
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The parent model will not be moved if the child model is moved.
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All the child models will be deleted if the parent model is deleted.
If you select the name of 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.
Configure the Scene Object
You can add, modify, or delete the scene objects in the project resource tree.
Add a Scene Object
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Click the + on the right side of the Scene objects in the Project resource tree to open the Scene Object Configuration window.
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Enter a custom name for the scene model in the Object name text box.
Click here to learn about more operations when the Scene model is set as Cuboid, bin or Cylinder:
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In the Object Settings tab, select the Scene model type in the drop-down list.
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Set the X, Y, Z (length, width, height) for a Cuboid model.
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Set the X, Y, Z (length, width, height), and Thickness for a Bin model and then Set effective range for pose in the Bin Settings.
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Set the Radius and Height for a Cylinder model.
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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.
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Click OK to save the setting.
Click here to learn about more operations when the Scene model is set as Custom model
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Click the Object Settings tab, and select or import the scene object model for collision detection under the dropdown list of Collison model.
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Select the scene object model used for visualization in the 3D simulation area in the dropdown list of the Visualization model.
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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.
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Click OK to save the setting.
| If the “Collision model” of a “Custom model” is in STL format, it is recommended to create a cuboid or cylinder to cover the custom model for a higher accuracy of the collision detection. |
Click here to learn about more operations when the Scene model is set as Camera
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In the Object Settings window, select the Camera model that is consistent with the real used camera.
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Select or import the scene object model for collision detection under the dropdown list of Collison model.
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Select the scene object model used for visualization in the 3D simulation area in the dropdown list of the Visualization model.
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Click OK to save the setting.
If you need to add more scene object models, please repeat the above steps.
|
Delete the Scene Object
Follow either of the following steps to delete a scene object.
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Select the scene model in the 3D simulation area or the model name under the Project resource tree, then click Delete.
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Right-click the scene object in the 3D simulation area or the model name under the Project resource tree, and click Delete in the pop-up menu.
Modify the Scene Object
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Follow either of the following steps to open the Scene Object Configuration window.
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Double-click the object model in the 3D simulation area.
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Double-click the name of scene objects in the Project resource tree.
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Right-click the name of the scene object under the Project resource tree, and click Scene Object Configuration in the context menu.
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Modify the parameters according to the actual requirement.
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Click OK to save the setting.
| You can also click to select the scene object model in the 3D simulation area, and press and hold the Ctrl key while dragging the coordinate axis to adjust its pose. |
Set Effective Range for Pose
When you add a bin as the scene model, you will need to configure the effective range for the vision pose in the Bin Settings tab.
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If the bin is only used as a scene model and it has no impact on the effective range for the vision pose, please unselect the Set effective range for pose parameter.
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If the vision pose must be in the bin, please select In the bin.
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If the vision pose may be above the bin top, please select In the bin and above the bin top and set the Height range above bin parameter.
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If you want to customize an effective range, please select Custom effective range and set parameters in Effective Range of Pose.