Versions Compared

Version Old Version 10 New Version 11
Changes made by

Shun Gao

Shun Gao

Saved on

Key

  • This line was added.
  • This line was removed.
  • Formatting was changed.

...

API Endpoints - Scene Modeling

In addition to Static Scene Model command SetObjectState, there are Dynamic Scene Model (DSM) commands that allow a user to add obstacles at runtime. A user may need DSM feature if the size or location of the obstacles is unknown offline, and therefore cannot be modeled. A user may also use the DSM if the number of obstacle variations is unrealistic to model (e.g. in palletizing there may be thousands of obstacle sizes and possible object states).

Any possible DSM obstacle can be modeled with either a Box or CAD Object.

  • CAD objects must be configured in RapidPlan Create ahead of time to reference at runtime.

  • The DSM objects cannot be attached to robots.

  • The DSM objects cannot be attached to stateful objects.

SetObjectState

Structure

Code Block
{topic: SetObjectState,data: {object_name: <value>,state_name: <value>}}

Argument Description

object_name: Specifies which object this call pertains to.
state_name: Specifies which state of the object should be used as defined in RPC.

Function Description

This command changes the active state of a stateful mate. An object is specified as a function argument, and the direct parent’s mate state will be set based on the specified state_name.
When an object state is changed, current robot motions are not re-validated, but new move commands will respect the new active state.

When called, the selected object state is stored to disk so upon project reload, the last active state will be used.

Response Details

This command will return a response to acknowledge the command has been received and executed successfully.

Example Request

Code Block
{topic: SetObjectState,data: {object_name: jig,state_name: open}}

Example YAML Responses

Code Block
{topic: SetObjectState,type: Response}

Example CSV Responses

Code Block
SetObjectState,0

...