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