After enabling collisiond detection with point cloud, I always get "tool collision with point cloud exceeding limit". Any solutions?

After enabling collision detection, I always get the error saying that the collision threshold between the tool and the point cloud is exceeded, but in fact, the actual physical contacts between the tool and the objects do not produce any issue.

Is there a workaround for this?

You can select among those methods depending on your requirements:

  1. Above the “Vision Move” waypoint, add another waypoint that is slightly higher than the “Vision Move” waypoint, and disable collision detection at the “Vision Move” waypoint.
  2. Crop a small part from the tool 3D model for collision detection.
  3. Remove the point cloud of the object to pick.