In the documented template-station workflow, replacing a standard uncalibrated robot with a calibrated robot resets the collision-map pairs to their defaults. The API can activate collision pairs, but the available evidence indicates that it cannot read or export the current list of active pairs.
Separate the Two Map Functions
| Function | Supported behavior | Use in this workflow |
|---|---|---|
| Collision map | The API can set active object pairs, but cannot extract their current list. | Restore a previously recorded pair definition after replacing the robot. |
| Collision-free planner map | The planner plugin can save its own map. | Do not use it to export collision-map active pairs. |
These maps belong to different functions. Saving a collision-free planner map does not capture the active object pairs configured in the collision map.
Why SaveMap Does Not Export Active Pairs
The attempted command addresses the collision-free motion planner:
RDK.PluginCommand("CollisionFreePlanner", "SaveMap", "-Map.csv")Its output is not an export of the collision-map table. Do not treat the generated map file as a backup of active collision pairs or use it as the source for restoring that table.
Use a Controlled Pair List for Restoration
- Record the required collision pairs outside the station before replacing the robot; the documented API cannot derive that list from the existing collision map.
- Replace the uncalibrated robot with the calibrated robot and confirm that the collision map has returned to its default state.
- Use the API's collision-pair setting capability to activate each pair from the controlled list.
- Verify the resulting collision-map table against that list before running collision checks.
If no external pair list exists, the available interface does not provide an automated way to reconstruct it from the original table. Users with a professional license can submit a Help-Request through the manufacturer's support channel and request export or enumeration of active pairs as a product feature.
FAQ
Can the RoboDK API export active collision pairs?
No. The available evidence states that the API can set collision-map pairs but cannot extract the list of pairs currently checked for collisions.
Does CollisionFreePlanner SaveMap save the collision table?
No. RDK.PluginCommand("CollisionFreePlanner", "SaveMap", "-Map.csv") saves data for the collision-free motion planner, not the collision map's active object pairs.
How can I restore collision pairs after replacing a robot?
Maintain the required pairs in an external controlled list, set those pairs through the API after replacement, and verify the collision-map table against the list.
