[Putxu]

Hi,

I want to know if i can use MoveL_Test, to test the collisions with an object attached to a tool and other objects. 

Im doing a python program to palletize objects,  and I want to know if in the movement is there a collision before the robots put the object in the pallet.

Thanks in advance!

[Albert]

Yes, you can check collisions between any moving objects in RoboDK (including static or moving objects, tools, robots, mechanisms, etc).

You should properly define your collision map as mentioned in the collision section of our documentation:
https://robodk.com/doc/en/Collision-Avoidance.html

[Putxu]

Hi,

But if I am creating the objects dynamically, that is, the objects are not in the layout from the beginning and how can I adjust the parameters?

[Albert]

You can also control what objects you want to check collisions with by using the API. For example by using setCollisionActivePairList:
https://robodk.com/doc/en/PythonAPI/robo...vePairList

[Putxu]

Thanks,

Do you have any example to test this function? I want to test the collision between an object and another 3 objects?

[Putxu]

I have another doubt,

How can I test the function just if the robot is doing a moveL_test example:

nuevo_target = RDK.AddTarget(f"Pose Calculada {objeto_count}")
nuevo_target.setVisible(False, False)
nuevo_target.setPose(PosePallet1)


nuevo_target.setAsJointTarget()

robot_joints = robot.Joints()

can_move_linear = True
issues = robot.MoveL_Test(robot_joints, PosePallet1)
can_move_linear = (issues == 0)


if issues==0:

# Verifica la colisión con todos los objetos en la estación
time.sleep(0.1)
robot.setPoseFrame(Robot_Frame)
robot.MoveJ(Aprox_palletA)
robot_joints = robot.Joints()
robot.setPoseFrame(frame_palletA)
robot.MoveL(PosePallet1)
TCP_Off(tool, frame_palletA)

with open(ruta_log, 'a') as log_file:
current_time = datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")
log_file.write(f"no Error de movimiento en {archivo_txt} con objeto {objeto_count} en {current_time}\n")




else:
#quitar de aqui a .2

joints_robot = robot.Joints()
robot.MoveL(PosePallet1)
TCP_Off(tool, frame_palletA)
with open(ruta_log, 'a') as log_file:
current_time = datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")
log_file.write(f"Error de movimiento en {archivo_txt} con objeto {objeto_count} en {current_time}\n")


I want to know if in the movement of moving the robot to posepallet1 with the object attached to the tool it collides with any other object in the station, I cannot make collision map because the objects appear dynamically in the simulation