Scene Objects

Scene objects refer to various objects in the real robot working scene, generally including trays, bins, brackets, etc. Adding scene object models is mainly used to restore the real scene in the software and assist in collision detection and path planning.

Add scene objects

Add scene objects by importing scene object files (.obj) or generating geometric bodies (long hair bodies, cylinders, spheres, bin).

Import scene object files

Follow these steps to import scene object files:

  1. Prepare scene object files (.obj).

  2. Click the + on the right side of the scene object entry.

  3. In the pop-up window:

    1. Enter a custom name.

    2. Check Import file.

    3. Click Upload file on the right side of the model file and select the model file.

    4. Click Confirm.

  4. In the Scene object parameters window on the right:

    1. (Optional) Set the scene object color.

    2. Set the pose parameters to adjust the pose of the scene object.

      Drag the coordinates of the scene object in the scene display area to roughly adjust its position.

Repeat the above steps to add more scene object models if necessary.

Generate geometry

Follow these steps to generate regular geometry:

  1. Click the + to the right of the scene object entry.

  2. In the pop-up window:

    1. Enter a custom name.

    2. Check Generate Geometry.

    3. Select the geometry type in the Type drop-down bar.

    4. Click Confirm.

  3. In the Scene object parameters window on the right:

    1. (Optional) Set the scene object color.

    2. Set the geometry size parameters to adjust the size of the scene model.

    3. Set the pose parameters to adjust the pose of the scene model.

      Drag the coordinates of the scene object in the scene display area to roughly adjust its position.

Repeat the above steps to add more scene object models if necessary.

Modify scene objects

For the scene objects that have been added, properties allow to be modified.

After selecting the corresponding scene object name:

  • Drag its coordinate axis in the 3D simulation space to roughly modify its position.

  • Properties in the parameter bar support to be modified.

Copy scene objects

Follow steps to copy scene objects:

  1. Under the scene object entry, click copy icon to the right of the scene object name.

  2. After entering a new name in the copy object pop-up window, click Confirm.

    The copied scene object overlaps with the original object.

Delete scene objects

Under the scene object entry, click delete icon to the right of the scene object name.