Path planning

The path planning could help avoid collision and give better reach for the robot.

Starting from Pally version 3.1 it is possible to get suggestions for path planning settings, such as smart exit and high approach boost, based on the current calibration points. However, you can still override the default settings and use your own.

Optimize gripper at pickup

Pally will allow you to grip the box or boxes at pickup in four different ways. Select the allowing orientations with the slider. Better reach could be accomplice when selecting 4-way grip

The selections are:

Find more information about Optimize gripper at pickup: https://rocketfarm.atlassian.net/wiki/spaces/PB/pages/379125794

Above pickup position

Above pickup position is the last point the robot will move to before grabbing a new box from the conveyor

Robot movement when placing box:

Pickup position → Box free height → Smart Exit → Extra waypoint → Approach Position → Target Position

Robot movement when travel back to grab new box:

Vertical exit point → Extra waypoint → Smart Exit → Above pickup -->Pickup position

If you use the blow function in pally it will be turned on between Above pickup and pickup position. This is to remove any dirt that may be on the surface of the box

Smart exit search range

Read more about the Smart Exit setting https://rocketfarm.atlassian.net/wiki/spaces/PB/pages/33455

High approach boost

https://rocketfarm.atlassian.net/wiki/spaces/PB/pages/768639018