Path Planning Configuration Guide
Introduction
Path planning refers to planning the robot’s motion Grasping Path and Retraction Path, and performing collision detection.
Collision Detection Configuration
The path planning configuration process is as follows:
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Complete the Collision Detection and Path Planning parameter configurations according to the actual situation.
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After configuration is complete, click Take Photo > Detect > Plan sequentially.
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If planning succeeds, a path animation will be displayed.
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If planning fails, a planning failure prompt will appear. Please check the planning details.
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| If you need to debug for the current single frame image, you can perform planning separately after parameter adjustment and view the results. |
View Settings
You can modify the view settings to help visualize the path planning effects.
After clicking View Settings, you can enable the point cloud texture and original point cloud switches, and modify path point size, color, joint angle refresh threshold, path point execution duration, and path loop display count.
Parameter Details
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Joint Angle Refresh Threshold: The robot’s joint angles are synchronized to the software. To avoid continuous rendering of the robot, the interface robot only refreshes when the difference in joint angles exceeds the threshold.
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Path Point Execution Duration: Used to adjust the total duration of the robot’s simulation of the entire planned path. The larger the duration value, the slower the movement speed.
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Path Loop Display Count: Used to adjust the number of cycles the robot simulates the planned path.
View Planning Details
Click on the planning details in the parameter panel on the right to view the path planning status.
Click the 
icon to view the grasping point’s name, ID, priority, corresponding grasping object ID, and grasping point pose information.
Click the 
icon to highlight the detected path in the view.
Click the 
icon to move the robot to that path point.
Click the 
icon to restore the robot to its default pose.