Expert functions

Functions can be added to the program with Universal Robots Advanced Program Structure ‘Script code’.

General functions

rc_set_parameter

This function can be used to set all rc_visard parameters. Parameters set with this function are saved and will be available after a reboot.

Input

  • ip_address - IP address of the sensor that should be used (sensor with this IP has to be configured in installation node)
  • pipeline - pipeline of the sensor
  • node_name - name of the node as described in rc_visard manual
  • parameter_name - name of the parameter that should be changed as described in rc_visard manual
  • parameter_value - value of the parameter that should be changed as described in rc_visard manual

Output

True if the parameter was set successfully, false otherwise.

rc_reset_parameters

This service resets all parameters of the module to its default values, as described in the manual. The reset does not affect sorting strategies and preferred orientations.

Input

  • ip_address - IP address of the sensor that should be used (sensor with this IP has to be configured in installation node)
  • pipeline - pipeline of the sensor
  • node_name - name of the node as described in rc_visard manual

Output

True if the parameter reset was successful, false otherwise.

Functions available for all detections

All detections permit using the following functions:

rc_get_MODULE_grasp

This function returns the grasp pose assigned to the grasp. MODULE needs to be one of ip (rc_itempick), bp (rc_boxpick), sil (rc_silhouettematch), or cad (rc_cadmatch).

  • ip_address - IP address of the sensor that should be used (sensor with this IP has to be configured in installation node)
  • pipeline - pipeline of the sensor

The grasp pose. If no grasp is available, it will return p[0,0,0,0,0,0].

rc_get_MODULE_offset

This function returns the grasp pose offset assigned to the grasp. MODULE needs to be one of ip (rc_itempick), bp (rc_boxpick), sil (rc_silhouettematch), or cad (rc_cadmatch).

The [x,y,z] translation of the grasp offset. If no offset is available, it will return p[0,0,0].

rc_get_MODULE_lc_pose

This function returns the load carrier pose. MODULE needs to be one of ip (rc_itempick), bp (rc_boxpick), sil (rc_silhouettematch), or cad (rc_cadmatch).

The load carrier pose. If no load carrier is detected, it will return p[0,0,0,0,0,0].

Dedicated BoxPick functions

rc_get_bp_item_size

This function returns the size in millimeters of the next item.

Input

  • ip_address - IP address of the sensor that should be used (sensor with this IP has to be configured in installation node)
  • pipeline - pipeline of the sensor

Output

This function returns the size of the next available item. If no item is available, it will return [0,0].

Dedicated SilhouetteMatch functions

rc_get_sil_pose

This function returns the pose of a detected object.

Input

  • ip_address - IP address of the sensor that should be used (sensor with this IP has to be configured in installation node)
  • pipeline - pipeline of the sensor

Output

This function returns the pose of a detected object. If no object is detected, it will return p[0,0,0,0,0,0].

Dedicated CADMatch functions

rc_get_cad_pose

This function returns the pose of a detected object.

Input

  • ip_address - IP address of the sensor that should be used (sensor with this IP has to be configured in installation node)
  • pipeline - pipeline of the sensor

Output

This function returns the pose of a detected object. If no object is detected, it will return p[0,0,0,0,0,0].