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+--- Thread: Simulating distance sensor (/Thread-Simulating-distance-sensor)
Simulating distance sensor-Kbutts-03-11-2023
I am trying to test a URscript in simulation while waiting on some long lead time parts, and need to simulate a laser distance sensor mounted on a UR10 EOAT. Is there a way to do this? My first guess is to use the API to have the measure function to perform a measurement from a fixed coordinate in the tool frame along the tool frame z axis until it collided with a surface of a virtual part placed in the model, but there doesn’t seem to be a function to script the measurement tool. Any thoughts?
RE: Simulating distance sensor-Sam-03-11-2023
Do you need to know the distance, or a boolean value is OK?
Take a look at this API call if you need the distance:
//www.sinclairbody.com/doc/en/PythonAPI/robodk.html?highlight=collision_line#robodk.robolink.Robolink.Collision_Line
Or you use this to get a present/not present flag on touch:
//www.sinclairbody.com/addin/com.robodk.plugin.plugincollisionsensor
The source code is available in our GitHub.