Scene Objects

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

Add Scene Object

Add scene objects by importing scene object files (.obj) or generating geometric shapes (cuboid, cylinder, sphere, material basket).

Import Scene Object File

Follow these steps to import a scene object file:

  1. Prepare a scene object file (.obj). The model file should be a convex hull or convex combination.

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

  3. In the popup 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 Parameter Settings, configure the basic properties of the scene object, such as name, color, opacity, and dynamic positioning.

  5. In Parameter Settings, set pose parameters to adjust the scene object’s pose.

  6. If needed, repeat the above steps to add more scene object models.

Generate Geometric Shape

Follow these steps to generate regular geometric shapes:

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

  2. In the pop-up window:

    1. Enter a custom name.

    2. Check Generate Geometric Shape.

    3. Select the geometric shape type in the type dropdown.

    4. Click Confirm.

  3. Configure the basic attributes of the scene object in Parameter Settings, such as name, color, opacity, and dynamic positioning.

  4. Set pose parameters in Parameter Settings to adjust the scene object’s pose.

  5. If needed, repeat the above steps to add more scene object models.

Move Scene Object

  • Rough Movement: Hold Shift in the view and use the left mouse button to drag the coordinate axes of the scene object to roughly adjust its position.

  • Precise Movement: Adjust the scene object’s pose in the scene object parameter bar.

Copy Scene Object

Follow these steps to copy a scene object:

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

  2. Enter a new name in the pop-up window for the copied object, then click Confirm.

    The copied scene object will overlap with the original object. You can verify the copy is successful by checking the scene object list or moving the scene object.

Delete Scene Object

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

Dynamic Positioning

Dynamic positioning refers to situations where material baskets are not fixed in the actual scene and their positions change dynamically during production. Therefore, for such scenarios, to make path planning more precise and avoid collisions, it is necessary to identify the material basket’s pose before collision detection and path planning, and update the material basket’s pose for collision detection and path planning calculations.

Follow these steps to set dynamic positioning:

  1. Add a material basket scene object.

  2. Click the corresponding scene object name in the scene object list on the left, and turn on the Dynamic Positioning switch in Parameter Settings.

  3. Build a processing flow in the ATOM algorithm diagram to match the material basket and output its pose. After building, add the output material basket pose operator’s output parameters to the parameter mapping table.

  4. In the algorithm parameter bar of the grasp configuration, select the algorithm diagram built in the previous step, and select the parameters from the parameter mapping table in the Dynamic Positioning parameter dropdown.

Once dynamic positioning is enabled for a scene object, its pose cannot be modified manually.