Allow z-offset for cuboid definition

[bbmedia]

In order to have all the advantages of the tool collision detection by defining a cylinder or cuboid, it would be important to be able to set the offset also in (minus) z-direction too.

Our mounted tool "integrates" parts of the flange and is therefore "deeper" than the flange. Because we currently can't define the z-offset, collision detection does not work for our tool.

[DanielWang123321]

Hi,
It does not support set "Z-" direction, could you show us(with image or video) how the tool looks like?

[bbmedia]

Hi @DanielWang123321 , please check our actual situation:

[DanielWang123321]

Well noted, as of now the firmware support set 'z-' offset for the collision model, for example

arm.set_collision_tool_model(21, radius=50, height=10, z_offset=-20)

But if you set z_offset less than -20, for example z_offset=-50, the firmware will check the collision between the joint 6 and your model, it will report self-collision error.
We will try to modify the logic, let the firmware not check the collision of joint 6 and the customer's model.