Security plane

Afsaar

Hi all,
when we create two security planes of this kind, the robot will work normally (N) in the middle of the planes and it will go in reduce mode (R) outside. The arrows show where the robot will work normally.

But if we create this kind of planes
the robot will work in reduce mode in each areas, why?
We can't understand why the robot works in reduce mode despite it is in the normal areas.

carlosjoserg

I'm not an expert in Polyscope scripting, but if I were to program those safety constraints, I'd make the reduced space (R) to overwrite the normal space (N) in case of ambiguities, precisely for safety reasons, which explains the issue you are having.

Check whether other available constraints can help you model your normal space (N).

MarcAntoine_Lacasse

I agree with @carlosjoserg, on the second draft each safety plane are in the reduced area of the other plane, which suggest that every where is a reduced area.

Fionn_Merz

I believe the current implementation of safety planes in the UR makes what you're trying to do impossible. Each plane is considered on it's own, with no consideration of any other planes. This means that in your second example, the plane on the top causes reduced mode to the whole volume below it, and the plane on the bottom causes reduced mode to volume above. So the volume above the top plane is still in reduced mode, because of the bottom plane, and vice versa. In the past we've had to use light curtains instead of safety planes due to this very reason. I hope there's an extension to the safety planes functionality coming, it certainly would be useful for many of our own projects. 

obohigas

Hi!
How did you specifically set the constraints for the robot to switch to (R) mode?
Maybe a little more information can help see where the problem is.
Cheers!