> For the complete documentation index, see [llms.txt](https://support.robominds.de/manual/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://support.robominds.de/manual/robots/robot-interfaces/universal-robots/ur-robobrain-r-urcap/urcap-functions.md).

# URCap: Functions

Apart from the standard functions, that are embedded into the <mark style="color:blue;">**"robobrain Pick Pose"**</mark> or <mark style="color:blue;">**"robobrain Calibration"**</mark> node, a variety of more advanced functionalities were created for even more flexibility in your robot program. The entire list is depicted in the following two pictures:

<figure><img src="https://660378187-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FbfPmWtourffXBtJHjy1q%2Fuploads%2F9ISj6qTEcltuSbfZfoHe%2FScreenshot%202023-05-24%20103956.png?alt=media&amp;token=cd98fa0e-bd25-44b2-9220-ec1bbc8bf7ee" alt=""><figcaption></figcaption></figure>

<figure><img src="https://660378187-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FbfPmWtourffXBtJHjy1q%2Fuploads%2FhwUx4iyweRQWr1OdZOAE%2FScreenshot%202023-05-24%20104029.png?alt=media&amp;token=1c74790d-41da-4c29-b43c-69b7441272ae" alt=""><figcaption></figcaption></figure>

If you are working with multiple workspaces, but don't want to include the entire "robobrain Pick Pose" node every time, you can use the function <mark style="color:blue;">rb\_set\_workspace\_id()</mark> and the unique identifier of the respective workspace to overwrite the workspace configuration.

```
rb_set_workspace_id("662af031-ba99-41ab-81ac-5d1b717e0eee")
```

Another option is to use the KLT and Load Carrier Detection Skill and the <mark style="color:blue;">rb\_set\_ws\_config()</mark> function to dynamically adjust the workspace to bins in varying positions.&#x20;

```
'Select the Bin Detection Skill and 'World' workspace for detection'
 robobrain Pick Pose
   If rb_has_result()
     'Overwrite Workspace Config'
       rb_set_ws_config("pos_x",rb_pick_pose[0])
       rb_set_ws_config("pos_y",rb_pick_pose[1])
       rb_set_ws_config("pos_z",rb_pick_pose[2])
       rb_set_ws_config("rot_x",rb_pick_pose[3])
       rb_set_ws_config("rot_y",rb_pick_pose[4])
       rb_set_ws_config("rot_z",rb_pick_pose[5])
```