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To create the pattern, it is suggested to use an inverted approach. (see picture below) This enables Pally to begin working from the side closest to the robot and move outwards, ensuring that the gripper always has enough space to open.
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You can also use the “Customize box index” to arrange the boxes the way you want them, to ensure you always have free space to open the pich gripper. See picture below
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To prevent collisions, it is suggested to lock the boxes. (see pøicture picture below) This will ensure it is always placed in the same positions. To make this easier to visualise, enable Lable orientation; this will show you how the boxes are facing.
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