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Waypoints generation in MyRobot.Cloud

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This article is written for Pally Module for Doosan cobot

With the Pally Module you create the complete waypoints in MyRobot.Cloud instead of on the cobot.

Creating the waypoints is done by creating your pattern and run a complete simulation when using the backup of the installation/calibration.

MyRobot.Cloud / Waypoints Generation

Sign in or sign up to MyRobot.Cloud at https://www.myrobot-cloud-dev.herokuapp.com.

If you have received an invitation to join an organization, you don’t need to create a new organization.

As this is the Development stage bugs can occur. If you find any report them to Rocketfarm.

Only selcted email domains are whitelisted at the development stage.

With your user and organization set up. Create a customer organization.

Upload Calibration / Installed Robot

  • Select customer to work with

  • One the customer organization dashboard, press (plus) on Installed Robots

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  • Select Doosan

  • Enter a name for your robot and press Upload Calibration File

  • Choose the generated calibration file from your robot

  • Once you’ve done this you should see your robot listed

A popup that no license found is presented. You can ignore this.

image-20240510-083652.png

You’re now ready for creating a pattern and generating waypoints.

Create Pattern

Back at the customer organizations press (plus) on the Patterns card.

A new dialogue should open where you enter your product dimensions and customize your pattern.

Select / Create Product

  • Either select an existing product or create a new product

  • Create new

    • Press + New Product

    • Enter name, product dimensions and label orientation

    • Press Save

  • Once you’re happy with your product press -> Next

image-20240510-084004.png

Create pattern

For more information on pattern generation visit: Product and patterns

  • Enter your pattern name

  • Choose your pattern settings

  • Choose your base pattern in the 3D view

  • Once happy with your base pattern either;

    • Customize your pattern

    • Confirm

image-20240510-084402.png

Once you’ve pressed Confirm you are redirected to the Pattern table where your patterns are listed.

Path Path Strategy

Back at the customer organizations press (plus) on the Pally Path Strategy card.

A new dialogue should open where you can tune the path planning parameters.

Create Pally Path Strategy

  • Name your strategy

  • Adjust the Path Planning parameters. Description of the different parameters can be found below.

  • Adjust the Gripper settings. Description of the different parameters can be found below.

  • Once satisfied. Press → Confirm

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Path Planning

 

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Variable

Description

Above pickup

Distance from pickup to above pickup position.

Box free height

Distance from pickup to box free position.

Box free auto

Box free height should not be smaller than the box height.

Approach

Approach distance

Approach auto

Approach distance can be recalculated for each box.

High approach boost

High approach boost. Only in effect when placing boxes below conveyor height.

Floating value: [0 → 1]

image-20240510-091750.png

 

Pallet edge

Pallet lip. Set to 0 if none.

Smart Exit

Area to search for a smart exit waypoint.

min x - Lower X limit

max x - Upper X limit

min y - Lower Y limit

max y - Upper Y limit

Gripper

Variable

Description

Gripper rotation

The value can be either None, Two way or Four way. Representing the different ways a robot can pick the box.

None: forward (the gripper direction at the calibrated pick position)

2-Way: forward and backward

4-Way: forward, backward, left, right

Max grip

Currently not in use.

Min grip quality

The minimum grip quality for calculating number of boxes to pick relative to gripper size.

When the estimated grip quality drops below the minimum threshold, the program can decide to pick fewer boxes, use another gripper rotation at pickup, or even reduce the maximum allowed acceleration to guarantee box transport stability between the pick and drop position.

Floating value from 0 and up.

Foam height

Gripper foam (suction cup) squeezing length in meters. Default value 0.02.

Length coverage

Minimum required fraction of the total  length of each box covered by the gripper in multi-pick

Grip rotation cost

Additional cost of each specific gripper rotation 

(0, 180, -90, +90)

Default: [0, 30, 10, 10]

Align to edges

Gripper-to-box edge alignment.

Default: True

Setting the value to False can be relevant for some custom grippers e.g. pinch grippers. Setting the value to False may cause accidental multipick of small boxes with large vacuum gripper.

Generate Waypoints

From the customer organization’s dashboard press (plus) on the Generated Waypoints card.

  1. Select your pattern(s).

    image-20240614-122837.png
  2. Select your Calibration (Installed Robot)

    image-20240614-123453.png

  3. Select your Pally Path Strategy(ies)

    image-20240614-123530.png

  4. Press Confirm

    image-20240614-123605.png

  5. Once the waypoint generation is finished you can download the generated .json

    image-20240614-123637.png

  6. Download the file to a USB drive and upload the file on the robot according to the Pally Manual Upload patterns to the robot

 

There is currently no error reporting. If the resulting .json does not have any tasks or paths in the file, or it lacks some boxes this may be due to that these positions are out of reach.

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