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Grady_TurnerGrady_Turner Posts: 67Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Wrist Camera URCap 1.3.0 Handy
edited August 2016 in Robotiq Products
I have seen a need for this several times.  An example would be a pallet where the nests do not perfectly locate the parts.  I have used the robot to iterate through the pallet and take a picture at each pallet position to find the part in the nest.

Is this possible (or could it be possible) to do with the RQ camera kit?
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Best Answers

  • PierreOlivier_ProulxPierreOlivier_Proulx Posts: 68 Handy
    Accepted Answer
    It is something you will achieve through scripting. In short, hidden in the Camera Locate node, there is variable named snapshot_position_offset that is initialized to p[0,0,0,0,0,0]. If you set this variable, it will offset the calibration plane. You have then to manually offset the snapshot position (tray_var in that case) and move to the new snapshot position. With this example, the teaching was made at the height of the first tray.


    Pierre-Olivier Proulx
    Software Designer
    [email protected]

Comments

  • Grady_TurnerGrady_Turner Posts: 67Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Wrist Camera URCap 1.3.0 Handy
    @Alexandre_Pare that was my idea, the issue I see is the possibility of "matching" the model with some random objects in the background (like the trays).  But I will do some testing as well; let me know what you find!
  • Grady_TurnerGrady_Turner Posts: 67Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Wrist Camera URCap 1.3.0 Handy
    @PierreOlivier_Proulx sounds great!  I'd be very interested in having the functionality.  Is that something you added to the URCap, or something I can add in Polyscope?  (can I simply offset my snapshot pose variable?)
  • Grady_TurnerGrady_Turner Posts: 67Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Wrist Camera URCap 1.3.0 Handy
    @PierreOlivier_Proulx  Thanks!  I will do some testing with this.  This really adds a lot of flexibility!
  • PierreOlivier_ProulxPierreOlivier_Proulx Posts: 68Beta Tester VIsion 1.1 Program, Vacuum Beta tester Handy
    @Grady_Turner That feature is not available on your version. I will send you an update shortly.
    Pierre-Olivier Proulx
    Software Designer
    [email protected]
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