통합 예제 - Pickit 3D

### For robot-camera calibration example ###
 
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)
pickit_connect("192.168.137.90")
 
# Move to Pose #
pos1= posx(476.76, -151.68, 384.83, 33.36, 24.71, 95.44)
pos2= posx(495.86, -150.08, 435.69, 1.43, 8.21, 122.25)
pos3= posx(508.79, -83.06, 446.94, 82.88, -35.91, 39.23)
pos4= posx(521.66, -146.28, 431.8, 29.71, -33.73, 82.42)
pos5= posx(508.35, -147.45, 386.37, 101.03, 38.04, 42.68)
movel(pos1)
pickit_request_calibration()
movel(pos2)
pickit_request_calibration()
movel(pos3)
pickit_request_calibration()
movel(pos4)
pickit_request_calibration()
movel(pos5)
pickit_request_calibration()

### For simple picking example ###
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)
   #Move to home pose
movel(home_pos)
    
   # 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'])
 
pickit_disconnect()

### For multiple parts picking example ###
 
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:
   # Move to home pose
   movel(home_pos)
    
   # 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'])