Generic components for palletizing and picking workcells: a pallet component
(pose + dimensions + geometry) and a pick-station component (inbound box
presentation surface).
Both components are pure config containers — their world pose comes from the
standard frame block on the resource config, and dimensions come from
frame.geometry. They expose pose and dimension queries via DoCommand so
sibling services (such as viam:pack-sequencer:sequencer) and motion-task
modules (such as a palletizer) can read them through a single source of truth.
| Model | API | Purpose |
|---|---|---|
viam:workcell-components:pallet |
rdk:component:generic |
The pallet itself — pose, length × width × thickness, optional drag-in-3D-viewer config. |
viam:workcell-components:pick-station |
rdk:component:generic |
The inbound surface where boxes arrive. Carries a vacuum-grasp offset, a pre-grasp safe height, and a per-box rotation. |
Both components consume the standard frame block. The pallet's frame.geometry
should be a box with dimensions matching the physical pallet (e.g. 1219.2 × 1016
× 152.4 mm for a standard GMA pallet). The pick-station's frame.geometry is
similarly a box matching the inbound surface.
See viam:pack-sequencer:sequencer for the service that computes pack order
against these components.
make module.tar.gz
viam module upload --version <X.Y.Z-rcN> --platform linux/amd64 module.tar.gz