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 on Installed Robots

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. You will see information that the cobot does not have any license, but you can just ignore this.

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

Create Pattern

Back at the customer organizations press 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

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

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 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

Path Planning

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]
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 on the Generated Waypoints card.

Select your pattern(s).
Select your Calibration (Installed Robot)
Select your Pally Path Strategy(ies)
Press Confirm
Once the waypoint generation is finished you can download the generated .json
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.