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. Click the icon displayed on hover setting icon under the scene object list entry on the left to set the basic attributes of the scene object.

  5. In the scene object parameter window on the right: 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. Click the icon displayed on hover setting icon under the scene object list entry on the left to set the basic attributes of the scene object.

  4. In the scene object parameter window on the right: 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.

Move Scene Object

  • Rough Move: Drag the coordinate axes in the 3D simulation space to roughly adjust its position.

  • Precise Move: Adjust the pose of the scene object in the scene object parameter section.

Copy Scene Objects

Follow steps to copy scene objects:

  1. Right-click on the scene object list entry to open the menu, and click Copy.

  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

Right-click on the scene object list entry to open the menu, and click Delete.

Setting up a Dynamic Basket

A dynamic basket means that in the actual scene, the basket is in a non-fixed state and will change its position dynamically during the production process. Therefore, for such scenes, in order to make path planning more accurate and avoid collisions, it is necessary to identify the pose of the basket before collision detection and path planning, and update the pose of the basket for collision detection and path planning calculations.

The steps to set up a dynamic basket are as follows:

  1. Add a basket scene object.

  2. Click the icon displayed on hover setting icon under the scene object list entry on the left to open the popup, then enable Dynamic Positioning in the popup.

  3. Build a processing flow for matching baskets and outputting basket poses in the ATOM algorithm graph. After the construction is completed, add the output parameters of the output basket pose operator to the parameter mapping table.

  4. In the algorithm parameter column of the capture configuration, select the algorithm graph built in the previous step, and select the parameters in the parameter mapping table in the dynamic positioning parameter drop-down column.