[Kbutts]

I am trying to test a URscript in simulation while waiting on some long lead time parts, and need to simulate a laser distance sensor mounted on a UR10 EOAT. Is there a way to do this? My first guess is to use the API to have the measure function to perform a measurement from a fixed coordinate in the tool frame along the tool frame z axis until it collided with a surface of a virtual part placed in the model, but there doesn’t seem to be a function to script the measurement tool. Any thoughts?

[Sam]

Do you need to know the distance, or a boolean value is OK?

Take a look at this API call if you need the distance:
https://robodk.com/doc/en/PythonAPI/robo...ision_Line

Or you use this to get a present/not present flag on touch:
https://robodk.com/addin/com.robodk.plug...sionsensor
The source code is available in our GitHub.