pickit_next_object(offset_z)

Features

This function returns pick_prepos and pick_pos detected next to the input model.

Parameters

Parameter Name	Data Type	Default Value	Description
offset_z	int	-	The offset_z sets to 'pick_prepos' distance.

Return

Value

Data Type

Description

data_dictionary = {'pick_pos':pick_pos, 'pick_prepos':pick_prepos, 'object_age':data['object_age'], 'object_type':data['object_type'], 'object_dimensions':data['object_dimensions'], 'object_remaining':data['objects_remaining'], 'status':data['status']}

{'pick_pos': posx,

'pick_prepos': posx,

'object_age': int, 'object_type': int , 'object_dimensions': int ,

'object_remaining': int ,

'status': int}

'pick_pos': Model recognition position,

'pick_prepos': Offset value of model recognition position,

'object_age': The amount of time that has passed between the capturing of the camera data and the moment the object information is sent to the robot. This value has to be divided by the MULT factor.,

'object_type': The type of object detected at object_pose ,

'object_dimensions': When reading array elements, each value has to be divided by the MULT factor. ,

'object_remaining': Only one object per pickit_to_robot_data message can be communicated. If this field is non-zero, it contains the number of remaining objects that can be sent in next messages to the robot. ,

'status': Contains the Pickit status or a response to previously received robot commands.

Example

PY

pickit_connect("192.168.137.90")
pickit_change_configuration(7, 10) # These numbers are defined in Pickit
 
set_singular_handling(DR_AVOID)
set_velj(60.0)
set_accj(100.0)
set_velx(250.0, 80.625)
set_accx(1000.0, 322.5)
home_pos = posx(122.09, 35.28, 303.63, 140.45, 158.9, 134.39)
while True:
   # Detection
   data = pickit_detection(100)
   if data['status'] == ResponseStatus.OBJECTS_FOUND:
# Picking motion
       movel(data['pick_prepos'])       
       movel(data['pick_pos'])
       movel(data['pick_prepos'])
        
       remaining = data['object_remaining']   
       while remaining > 0:
           data = pickit_next_object(100)
           remaining = data['object_remaining']
            
           # Picking motion
           movel(data['pick_prepos'])
           movel(data['pick_pos'])
           movel(data['pick_prepos'])
 
pickit_disconnect()