[Keisuke.Sakai]

Hi RoboDK Support Team,

I’m having trouble using the Attach command. The object does not attach to the tool and stays in place during the simulation.
 Could you tell me what possible causes I should check?
The tool and object seem properly aligned, and the command is being called in the program, but it still does not work.
Any advice would be appreciated.

Best regards,
Keisuke Sakai

[Albert]

When the Attach command does not work as expected you can increase the distance to check against the closest object in the pick instruction. It is likely that the TCP is inside the object it is already in contact with. It could also grab other objects that are meant to be static (like a conveyor), so you can Right click any object you are not planning to grab and mark it as "locked".

I attached your project with the pick/place programs working.