URCap: Detections list

The robobrain® does not only return the preferred pick point for an object, but, depending on the skill, also many more detections that can be used in your robot program. While the pick point is automatically returned if you're using the "robobrain Pick Pose" node, the other values need to be accessed with special functions. The following picture shows an overview of those functions as depicted on the UR Teach Pendant when using the "Assignment" node.

robominds functions to access all the additional detections

The specific values and respective data types, that are returned by each skill, can be found on the robobrain.skills support page:

robobrain.skillsrobobrain.vision Manual

Depending on the detection you are interested in, you have to choose the appropriate robominds function. If you are using the Smart Parallel Picking Skill and want to get the grasping width for the gripper, you need to use the rb_get_attr_float() function:

grasp_width := rb_get_attr_float("detections[0].width")

Or you can use it directly for the first returned pick candidate:

grasp_width := rb_get_pick_width()

Other examples with the Smart Item Detection Skill:

Get the dimensions of the first / best pick point along the x- and y-axis:

dim_x := rb_get_attr_float("detections[0].dimensions[0]")
dim_y := rb_get_attr_float("detections[0].dimensions[1]")

Get the total number of detected pick points:

n_dets := rb_get_attr_int("detections.length()")