URCap: Functions

Apart from the standard functions, that are embedded into the "robobrain Pick Pose" or "robobrain Calibration" 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:

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 rb_set_workspace_id() 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 rb_set_ws_config() function to dynamically adjust the workspace to bins in varying positions.

'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])