pickit_next_object(offset_z)

기능

입력된 모델의 다음으로 검출된 pick_prepos, pick_pos를 반환한다.

인수

인수명	자료형	기본값	설명
offset_z	int	-	'pick_prepos' 거리를 설정한다.

리턴

값

자료형

설명

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': 모델 인식 위치,

'pick_prepos': 모델 인식 위치의 오프셋 값,

'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.

예제

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()