URCap: "robobrain PickPose" node

The robobrain: Pick Pose node enables you to include the robominds skills into your robot program. Depending on your application, this is where you would choose, for example, the Smart Item Detection or the Load Carrier Detection Skill for your robot program.

Once you've clicked on the robobrain: Pick Pose function in the menu on the left, the code block depicted in the following image will be inserted into your program. In the first step, you need to click on Configure in order to select the appropriate skill, workspace and pre pick pose offset.

With the parameter Pre Pick Pose Z Offset (m) you determine the distance from which the robot will approach the picked item linearly. If you use the robobrain® system for bin picking applications, it is recommended to set this parameter to at least the height of your bin.

Once the item has been picked and the robot has moved back to the position rb_pre_pose, the code block includes an if statement in order to validate whether the robot has actually picked up the object or, for example, lost it during operation. If you're also using the robominds LEDgripper, you could for instance check the voltage level of the built-in vacuum sensor.