Tools

The end-effector is a device specially designed and installed at the mechanical interface to enable the robot to complete its tasks, such as a gripper or suction cup. Adding a scene object model is mainly used to display the end-effector in the software and enable the end-effector to participate in collision detection.

Add Tool

  1. Prepare the tool file (.obj).

  2. Click the + on the right side of the tool entry.

  3. In the pop-up Import tool window:

    1. Enter a custom tool name

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

    3. Click Confirm.

  4. In the Tool Parameters window on the right:

    1. Set tool model pose

    2. Set TCP

Set Tool Mounting Pose

The tool should be installed on the end flange of the robot. After adding the tool model, it needs to adjust its pose to match the actual installation form.

scenes tool pose

Adjust the pose parameters in Tool Model > Tool Mounting Pose to set the tool model’s pose.

Set TCP

The tool is used to pick and place objects. When the robot moves to a certain point in space for picking and placing, it essentially moves the TCP origin to that point. The default tool coordinate system is located at the end flange of the robot, so you need to adjust the TCP to the end of the tool to accurately simulate the actual picking and placing process.

Adjust the pose parameters in Tool Model > Tool Coordinate System to set the TCP.

Set Tool Basic Properties

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

Delete Tool

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