Bug: Pally does not start palletizing even if there is a box present

Relevant system configurations

This bug is only relevant for systems with a single product sensor configured, while using pallet patterns with maximum grip higher than one (maxGrip >= 2).

Afflicted versions

Pally: ALL
Polyscope: ALL

Bug symptoms

After starting the program and selecting the pattern the robot seems to wait at the waiting position forever, even if there are boxes arriving to the pickup position on the conveyor and the product sensor signal is read correctly.

Bug description

If Pally is configured with a single product sensor and a pallet pattern that enables multi pick (max grip higher than 1) is selected, it will not start palletizing. Essentially, Pally is waiting for signals from the secondary product sensor even though it’s not configured.

Scheduled fix

ASAP - next release.