Warning
You are reading the documentation for an older Pickit release (2.1). Documentation for the latest release (3.4) can be found here.
The Pickit functions cheat sheet
Note
This article describes the legacy way of using Pickit with a Universal Robot. For new systems, please refer to the URCap installation and setup article.
Pickit provides many functions to script your Pickit application to a success. Underneath we provide an overview of the provided functions:
pickit_is_running(), pickit_can_calibrate(), pickit_save_scene(), pickit_find_calib_plate(), pickit_configure(setup,product), pickit_look_for_object(), pickit_next_object(), pickit_has_response(), pickit_object_found(), pickit_no_image_captured(), pickit_remaining_objects(), pickit_get_pose()
Intro
We differentiate two different kinds of functions:
Blocking functions: These functions send a command to Pickit and waits until a response is received.
Stopping functions: These functions force the robot program to stop in case it returns false. Note that the return value is never used in case the robot program is stopped.
Non-blocking functions: This is pickit_look_for_object() and pickit_next_object(). These functions only send a command to Pickit and immediately return. Waiting for a response has to happen in another line/function. The motivation for that is that the pickit_look_for_object() function does not result in an immediate answer due to the detection taking time. By having this function non-blocking, the robot or control process can do something else before waiting for the response.
Pickit functions
pickit_is_running()
Request Pickit if Pickit is in Running state.
Behaviour |
Universal robots |
ABB |
---|---|---|
Blocking |
Yes |
Yes |
Return value |
Boolean |
Boolean |
Stopping |
No + popup |
No |
pickit_can_calibrate()
Request Pickit if Pickit is in Calibration state. (the Calibration page is active in the Pickit web interface)
Behaviour |
Universal robots |
ABB |
---|---|---|
Blocking |
Yes |
Yes |
Return value |
Boolean |
Boolean |
Stopping |
No |
No |
pickit_save_scene()
Request Pickit to save the latest image and configurations into a file.
Behaviour |
Universal robots |
ABB |
---|---|---|
Blocking |
Yes |
Yes |
Return value |
Boolean |
Boolean |
Stopping |
No + popup |
No |
pickit_find_calib_plate()
Request Pickit to localise the Pickit camera-to-robot calibration plate.
Behaviour |
Universal robots |
ABB |
---|---|---|
Blocking |
Yes |
Yes |
Return value |
Boolean |
|
Stopping |
No + popup |
Yes |
pickit_configure(setup, product)
Request Pickit to load and use a specific setup and product type.
Behaviour |
Universal robots |
ABB |
---|---|---|
Blocking |
Yes |
Yes |
Return value |
Boolean |
|
Stopping |
Yes + popup |
Yes |
pickit_look_for_object()
Request Pickit to look for objects.
Behaviour |
Universal robots |
ABB |
---|---|---|
Blocking |
No |
No |
Return value |
||
Stopping |
No |
No |
pickit_next_object()
Request Pickit to return the next object stored in the Pickit buffer which was found before with pickit_look_for_object()
Behaviour |
Universal robots |
ABB |
---|---|---|
Blocking |
No |
No |
Return value |
||
Stopping |
No |
No |
pickit_has_response()
Check if a response is received after sending pickit_look_for_object() or pickit_next_object().
Behaviour |
Universal robots |
ABB |
---|---|---|
Blocking |
Yes |
Yes |
Return value |
Boolean |
Boolean |
Stopping |
No |
No |
pickit_object_found()
Check if any objects are present in the Pickit buffer.
Behaviour |
Universal robots |
ABB |
---|---|---|
Blocking |
No |
No |
Return value |
Boolean |
Boolean |
Stopping |
No |
No |
pickit_no_image_captured()
Check if Pickit was able to capture an image.
Behaviour |
Universal robots |
ABB |
---|---|---|
Blocking |
No |
No |
Return value |
Boolean |
Boolean |
Stopping |
No |
No |
pickit_remaining_objects()
Check the number of remaining objects in the Pickit buffer.
Behaviour |
Universal robots |
ABB |
---|---|---|
Blocking |
No |
No |
Return value |
Integer |
Integer |
Stopping |
No |
No |
pickit_get_pose()
Request Pickit for the pick pose of the first object in the Pickit buffer.
Behaviour |
Universal robots |
ABB |
---|---|---|
Blocking |
No |
|
Return value |
Pose (3 translations, 3 rotations) |
|
Stopping |
No |