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Hi,

I'm experimenting with the collision check function.
I tested the example collision file by Johannes and ran into some issues.
I'm only asking the robot to check the collision of itself, without any additional fixture.

1. The core is showing collision between simulation slider 0.8-1.0, when everything looks fine. It's showing collision between the tool and A6 (Tool 1.png).
So I tried swapping the default tool with a custom tool without geometry. The empty tool got rid of the collision error. (Tool 2.png)
Can someone help me understand what is causing it? I tested in another file with turntable function, it is even showing A6 collision for every command.

2. I also don't quite understand what the option "In Background" after "Collision Checking" does.
It seems that enabling it removes all collision detection, not even showing up in analysis.
If I have "In Background" ticked, where can I find the collision result?

PRC version: 2019-10-09

Thanks,
Ryan

Hi all,

I'm currently experimenting with turntable on PRC v3. I referred to Johannes' CustomTurntable script to setup everything for our configuration.
The simulation is all fine with a custom turntable with +Z{0,0,1} rotation axis. The oval tool path rotates together with the turntable while the robot is moving properly (the higher tool path in image).
However our actual turntable was setup as clockwise being positive. Therefore I change the rotation axis of custom turntable component to {0,0,-1} to make it spin the same way.
With the -Z rotation axis, the simulation is still showing the robot arm and turntable in correct positions, but the vector display of tool path preview is scaling/moving up and down between correct position and mirrored position to XY plane (the lower tool path in image).
The code were looking good so I ran the code on the robot. It was doing correct movements regardless of the weird tool path display.
My guess is that the -Z rotation axis wasn't incorporated properly with the tool path preview. Did I find the right place to change the setting? Is there something else to change to make clockwise positive?
The script and image with both turntable setups are attached. I hope they help me explain better.

Thanks,
Ryan