Scene Objects

This section introduces the scene objects and corresponding configurations.

Introduction

Scene objects, usually including the safety fence, picking bin, tray, camera, camera stand and so on, 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 Resources panel.

Add a Scene Object

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

1. Go to Resources ‣ Scene Objects, and click + to open the Scene Object Configuration window.

2. 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 and then Set the Effective Range for the Vision Pose of the Bin.

3. Enter a custom name for the scene model in the Object Name text box.

   Hint

   • If you do not want the currently added scene object to be involved in the collision detection, please unselect the Involve in collision detection parameter.

   • If you do not want the currently added scene object to be selected in the 3D simulation area, please unselect the Model selectable parameter.

4. 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.

5. Click OK.

Please follow the steps below to add a Custom model.

1. Click the + next to the Resources ‣ Model Library, and select the collision model and visualization model in the pop-up window, and then click Open.

2. Click the + next to the Resources ‣ Scene Objects to open the Scene Object Configuration window.

3. Enter a custom name for the scene model in the Object Name text box.

4. Select Custom model as the Scene Model.

5. Set the model used for the collision detection as the Collision model.

6. Set the model used for visualization in the 3D simulation area as the Visualization model.

   Hint

   • If you do not want the currently added scene object to be involved in the collision detection, please unselect the Involve in collision detection parameter.

   • If you do not want the currently added scene object to be selected in the 3D simulation area, please unselect the Model selectable parameter.

7. 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.

8. Click OK.

Hint

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.

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

Hint

If you select an added model in the Resources 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 Resources 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 Resources ‣ Scene Objects and press the Delete key.

• Right-click the scene object in the 3D simulation area or the model name under Resources ‣ Scene Objects and select Delete in the context menu.

Modify the Scene Object

1. 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 Resources ‣ Scene Objects and double-click the scene object name.

   • Right-click the name of the scene object under Resources ‣ Scene Objects and select Scene Object Configuration in the context menu.

2. Modify the parameters according to the actual requirement.

3. Click OK.

Hint

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

Set the Effective Range for the Vision Pose of the Bin

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.

• 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.

• If the vision pose must be in the bin, please select In the bin.

• 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.

• If you want to customize an effective range, please select Custom effective range and set parameters in Effective Range of Pose.